MATLAB based PID controller

A very simple and effective way to build a PID controller in a single m.code

This code generates a PID controller in MATLAB environment without using any built-in commands or simulink blocks.
Tune this PID by changing the Kp, Ki, Kd, simulation time, or the desired set value.
The uniqueness of this code is that you can replace the two integrators with your model/system. You will find a note at that location in the code.
I used this code instead of Real Time Workshop (RTW) to simulate a system with a hardware-in-the-Loop (HIL), it worked just fine. You need to set your time properly so your system has enough of it to come to rest/settle.