Currently the only tool I use for that would be "C" code on the micro-controller
I will be looking at PID ( Proportional, Integral, Derivative ) control algorithms soon for my power supply project but that still based on "C" libraries
Those that have it (Students and people with buckets of $$$) may also be leveraging MAT LAB, I understand it is pretty good at this but as Im neither a student or well off i don't have it to try,
As I understand it Peter there is now a Home license available for MATLAB - I whinged to them about it because I calculate that so far, adding up initial purchase and maintenance, my full paid up license has cost me > £20k.
