Professional Documents
Culture Documents
ControlSystemDesignerTuningMethodsMATLAB&Simulink
ControlSystemDesignerTuningMethods
UsingControlSystemDesigner,youcantunecompensatorsusingvariousgraphicalandautomatedtuningmethods.
GraphicalTuningMethods
AutomatedTuningMethods
EffectivePlantforTuning
SelectaTuningMethod
GraphicalTuningMethods
Usegraphicaltuningmethodstointeractivelyadd,modify,andremovecontrollerpoles,zeros,andgains.
TuningMethod
Description
UsefulFor
BodeEditor
Tuneyourcompensatortoachieveaspecific
openloopfrequencyresponse(loopshaping).
Adjustingopenloopbandwidthanddesigningto
gainandphasemarginspecifications.
ClosedLoopBode
Editor
Tuneyourprefiltertoimproveclosedloopsystem
response.
Improvingreferencetracking,inputdisturbance
rejection,andnoiserejection.
RootLocusEditor
Tuneyourcompensatortoproduceclosedloop
polelocationsthatsatisfyyourdesign
specifications.
Designingtotimedomaindesignspecifications,
suchasmaximumovershootandsettlingtime.
NicholsEditor
Tuneyourcompensatortoachieveaspecific
openloopresponse(loopshaping),combining
gainandphaseinformationonaNicholsplot.
Adjustingopenloopbandwidthanddesigningto
gainandphasemarginspecifications.
Whenusinggraphicaltuning,youcanmodifythecompensatoreitherdirectlyfromtheeditorplotsorusingthe
compensatoreditor.Acommondesignapproachistoroughlytuneyourcompensatorusingtheeditorplots,andthenuse
thecompensatoreditortofinetunethecompensatorparameters.Formoreinformation,seeEditCompensatorDynamics
Thegraphicaltuningmethodsarenotmutuallyexclusive.Forexample,youcantuneyourcompensatorusingboththe
Bodeeditorandrootlocuseditorsimultaneously.Thisoptionisusefulwhendesigningtobothtimedomainandfrequency
domainspecifications.
Forexamplesofgraphicaltuning,seethefollowing:
BodeDiagramDesign
RootLocusDesign
NicholsPlotDesign
AutomatedTuningMethods
Useautomatedtuningmethodstoautomaticallytunecompensatorsbasedonyourdesignspecifications.
TuningMethod
Description
RequirementsandLimitations
PIDTuning
AutomaticallytunePIDgainstobalance
performanceandrobustnessortunecontrollers
usingclassicalPIDtuningformulas.
ClassicalPIDtuningformulasrequireastableor
integratingeffectiveplant.
OptimizationBased
Tuning
Optimizecompensatorparametersusingdesign
requirementsspecifiedingraphicaltuningand
analysisplots.
RequiresSimulink DesignOptimization
software.
Designafullorderstabilizingfeedbackcontroller
asalinearquadraticGaussian(LQG)tracker.
Maximumcontrollerorderdependsonthe
effectiveplantdynamics.
LQGSynthesis
https://www.mathworks.com/help/control/ug/controlsystemdesignertuningmethods.html
Tunestheparametersofapreviouslydefined
controllerstructure.
1/3
10/29/2016
ControlSystemDesignerTuningMethodsMATLAB&Simulink
TuningMethod
Description
RequirementsandLimitations
LoopShaping
Findafullorderstabilizingfeedbackcontroller
withaspecifiedopenloopbandwidthorshape.
RequiresRobustControlToolboxsoftware.
Obtainafullorderstabilizingfeedbackcontroller
usingtheIMCdesignmethod.
AssumesthatyourcontrolsystemusesanIMC
architecturethatcontainsapredictivemodelof
yourplantdynamics.
InternalModelControl
(IMC)Tuning
Maximumcontrollerorderdependsonthe
effectiveplantdynamics.
Maximumcontrollerorderdependsonthe
effectiveplantdynamics.
AcommondesignapproachistogenerateaninitialcompensatorusingPIDtuning,LQGsynthesis,loopshaping,orIMC
tuning.Youcanthenimprovethecompensatorperformanceusingeitheroptimizationbasedtuningorgraphicaltuning.
Formoreinformationonautomatedtuningmethods,seeDesignCompensatorUsingAutomatedTuningMethods.
EffectivePlantforTuning
Aneffectiveplantisthesystemcontrolledbyacompensatorthatcontainsallelementsoftheopenloopinyourmodel
otherthanthecompensatoryouaretuning.Thefollowingdiagramsshowexamplesofeffectiveplants:
Knowingthepropertiesoftheeffectiveplantseenbyyourcompensatorcanhelpyouunderstandwhichtuningmethods
workforyoursystem.Forexample,someautomatedtuningmethodsapplyonlytocompensatorswhoseopenloops(
L = C P )havestableeffectiveplants( P ).Also,fortuningmethodssuchasIMCandloopshaping,themaximum
controllerorderdependsonthedynamicsoftheeffectiveplant.
SelectaTuningMethod
Toselectatuningmethod,inControlSystemDesigner,clickTuningMethods.
https://www.mathworks.com/help/control/ug/controlsystemdesignertuningmethods.html
2/3
10/29/2016
ControlSystemDesignerTuningMethodsMATLAB&Simulink
SeeAlso
ControlSystemDesigner
RelatedExamples
BodeDiagramDesign
RootLocusDesign
NicholsPlotDesign
DesignCompensatorUsingAutomatedTuningMethods
https://www.mathworks.com/help/control/ug/controlsystemdesignertuningmethods.html
3/3