function [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars)  
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3);id=vars(4);
switch key1
    case 3
        switch key2
            case 4
                switch id
                    case 1
                        Kp=1.682*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 2
                        Kp=1.383*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 3
                        Kp=1.161*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 4
                        Kp=0.992*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 5
                        Kp=0.859*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 6
                        Kp=0.754*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 7
                        Kp=0.669*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 8
                        Kp=0.600*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 9
                        Kp=0.543*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 10
                        Kp=0.496*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                    case 11
                        Kp=0.457*T/(K*L);Ti=T;Td=0.25*L;
                        key=1;
                end
        end
end