function [Kp,Ti,Td,key,lb]=pid_fr_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 1
        switch key2
            case 5
                if L/T<0.33
                    Kp=5*T/(9*L*K);Ti=5*L;
                    key=1;
                else
                    Kp=T/(2*L*K);Ti=T;
                    key=1;
                end
        end
    case 2
        switch key2
            case 5
                 if L/T<0.33
                    Kp=5*T/(9*L*K);Ti=5*L;Td=0.3*L;
                    key=1;
                else
                    Kp=T/(2*L*K);Ti=T;Td=0.3*L;
                    key=1;
                end
        end
end