function [Kp,Ti,Td,key,lb]=pid_cl_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 1
                if L/T>3.0
                    Kp=0.333*T/(K*L);Ti=T;
                    key=2;lb=3.0;
                else
                    Kp=0.333*T/(K*L);Ti=T;
                    key=1;
               end
            end
    case 3  
        switch key2
            case 1
                switch id
                    case 1
                        Kp=T/(K*L);Ti=5*L;Td=0.5*L;
                        key=1;
                    case 2
                        Kp=0.5*T/(K*L);Ti=5*L;Td=0.5*L;
                        key=1;
                end
        end
end