10/29/2016

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.

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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

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ControlSystemDesignerTuningMethodsMATLAB&Simulink

SeeAlso
ControlSystemDesigner

RelatedExamples

BodeDiagramDesign

RootLocusDesign

NicholsPlotDesign

DesignCompensatorUsingAutomatedTuningMethods

https://www.mathworks.com/help/control/ug/controlsystemdesignertuningmethods.html

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