PID Controller Tuning Based on Measured Multi-Input Multi-Output

I've designed position controller that allows me to control the position of the robot's end-effector. The inputs are the x_d,y_d,z_d and the outputs are x(t),y(t),z(t) and the sampling time is 1kHz. I'm struggling with tuning the PID controller for this project. I do have access to all toolboxes via my university. Is it possible to import all inputs and outputs and tune the PID controller possibly via GUI?

[Sam Chak]

Hi @Bandar

If you want to control the position of the end-effector, don't you need to solve the inverse kinematics problem to find a vector of joint variables that produce a desired end-effector location?