Self tuning PID controllers

[JakeHartnell]

So PID controllers are great but if we could have some methods to assist in tuning their parameters that would make creating control systems a lot easier...

Some ideas: https://robotics.stackexchange.com/questions/167/what-are-good-strategies-for-tuning-pid-loops https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method http://m.eet.com/media/1112634/f-wescot.pdf

In essence can we make a light weight optimization function?