v1.8.0 — One-gain PID tuning takes the plant's phase margin
- TunePID/TunePIDFRD: P and I controllers with no phase margin given (0) now tune the gain for the crossover and take the margin the plant gives there, instead of the 60° default that was unattainable for almost every plant. An explicit PhaseMargin behaves as before.
- With a model-based stability certificate, a one-gain design is accepted at every stable crossover and reports its lowest margin; sampled FRD and exact-delay designs keep the requested-margin floor.