DC motor parameter identification using microcontroller

I’ve built a DC motor controller which measures the speed and current (not really sure yet about current values) of a permanent magnet DC motor. I plan to connect different PM DC motors. Is there a way to build a software routine which identify the motor’s characteristics and adjust the parameters of the controller (let’s say a PID) according to what is best for that specific motor? When there’s enough load, the motor tends to decrease the speed and that’s what I want to compensate.

Is it strictly necessary to use MATLAB to identify every motor I plan to connect? I don’t have much experience designing PID controllers microcontroller-based. I would appreciate any suggestions.

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