pid-tuner
Scilab is a free, open-source alternative to MATLAB that is popular in developing nations and educational sectors where licensing costs are a barrier.
For hardware-in-the-loop (HIL) testing, the toolbox should log error signals, control outputs, and setpoints.
—the heartbeat of his last flight recorded in thousands of lines of data.
For those looking for free alternatives, a community fork named PIDscope has been created to provide similar graphical analysis tools. How to Install PID Toolbox (Step-by-Step)