System Identification toolbox (matlab) - embebed robotics

Hello.

Has anyone used this toolbox?

I have a robot and I did the PID tuning "manually" (matching the values for the PID from experience).

I've got a transfer function, etc ... but when I use the "pid tool" the values of the gains are very strange.
Probably because I already have a PID in the robot, but do not know how to tell matlab that gains and what kind of control I have implemented.

I was wondering how you do ...


Thank you very much.