This thread is dedicated to the discussion of automated tuning methods for future development.
A few questions to start off (mostly to reinforce my understanding):
Out of curiosity, the current manual tuning method seams very similar to Ziegler-Nichols, is it Ziegler-Nichols or a variant?
Why is the controller utilizing PI and not PID? I assume it has to do with the "stacking" of Voltage/Current/Velocity/Position control, as a change in position is by definition velocity.
Most importantly, what would be the optimal tuning method to achieve said goal? I would say that we would like to minimize the risk of possible damage. I'm thinking along the lines of Cohen-Coon or Relay Method.