tuning PID controller in simulink with actual hardware equipments
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I am working on a project in which i am using pid controllers to tune the gains. My system/controller is multiple input (2) and multiple output (2) type system. The controller is controlling the speed of two motors on an actual hardware. I am NOT wirting the transfer function of the plant/motor/system, I am directly using a feedback control loop by acquiring the data from the sensors/encoders, and sending the desired signal to the system/motors for corrective actions. I am using simulink for this purpose.
I just want to know the way of tuning the gains of my controllers by running it in an actual hardware, without writing the transfer function of the plant/system.