te=kornel.time;

ue=kornel.signals(1).values;

ye=kornel.signals(2).values;

%plot(te,ye);grid

n=max(find(te<=10));

t=te(n:end)-te(n);

y=ye(n:end)-ye(n);

plot(t,y);grid

v=diff(y)./diff(t);

tv=t(1:end-1);

[vV I]=max(v);

ypp=y(I);

yu=y(end);

F=ypp/yu*100;

uu=u(end);

k=yu/uu

n90=max(find(y<=0.9*yu));

t90=t(n90);

n10=max(find(y<=0.1*yu));

t10=t(n10);

T=(t90-t10)/2.2

tau=(t10-0.1*T);

tr=7,2*tau;

Ti=T;

kp=0.34*T/(k*tau);

P=kp;

I=kp/Ti;