Tuning PID controller

[Sancho_Pansa]

Hello,

Does exist a particular PID library that facilitate PID controller tuning.
Let's say realize following scenario:

1. specify some guess values for Kp, Ki, Kd
   
2. apply some kind of perturbation (e.g. step) on settle point
   
3. measure output
   
4. extract from measurements optimized Kp, Ki, Kd parameters according some constaraints (e.g. settling time less than 1us, overshoot less than certain value, etc.)
   

Thanks.
Sincerely,
Sancho