function [Kp,Ti,Td,key,lb]=pid_ww_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 1
                Kp=0.6*T/(K*L);Ti=L;Td=L;
                key=1;
        end
end