PID tuning Arduino for bldc motor control.

Im using an arduino which will control four bldc motors on an aircraft.

Is there anyway to use matlab or simulink to simulate and determine ideal PID parameters for this type of setup

(i.e for arduino connected to an ESC)

I would like to be able to make a model to represent the system and see the responses according to variances of the PID Gains.

Not really sure where to start with this though as im not sure on how to derive a transfer function for such a system.

Any help or tips would be of great appreciation -

Few main questions

how viable is this if possible?

Are there any existing models for such a setup?

Is there a way to determine the transfer function for a BLDC motor without extensive testing?

Perhaps there is a better way to calculate parameters for my arduino program ? I still however need to be able to see the response generated.

Thanks for reading.