Autotuning of PID Controller for a Non-planar Manipulator

Tune PID controller automatically for a 3 DOF non-planar manipulator and simulate it by giving step commands at all 3 joints.

This file (DOF3_RRR_Start.m) will first load the Rigid Body Tree object of the robot model from the SimScape model file (DOF3_RRR.slx). After that an slTuner object will be generated that will define the input and output of the system and later on will be tuned using H-infinity based optimization routine. Once tuning is complete the PID parameters will be written in the corresponding blocks and the manipulator will be simulated (DOF3_RRR_PID.slx).