Simulink Control Design™ - MathWorks

Figure 7: Input voltage to DC motors (control signal). Second, cross-coupling effects between the Wrist and Bicep, when brought ...

Refining The Design To improve the Bicep response for this specific arm maneuver, we must keep the cross- couplings effects smal ...

Push the retuned values to Simulink for further validation. writeBlockValue(ST3) The simulation results appear in Figure 8. The ...

Figure 8: Angular positions and control signals with refined controller. The 3D animation confirms that the arm now moves quickl ...

Figure 9: Fine-tuned response. See Also TuningGoal.MaxLoopGain | TuningGoal.MinLoopGain | TuningGoal.Tracking | systune See Also ...

Related Examples “Active Vibration Control in Three-Story Building” (Control System Toolbox) 13 Control System Tuning Examples ...

Control of an Inverted Pendulum on a Cart This example uses systune to control an inverted pendulum on a cart. Pendulum/Cart Ass ...

Figure 2: Simscape Multibody model This system is controlled by exerting a variable force on the cart. We need to keep the pendu ...

The inner loop uses a second-order state-space controller to stabilize the pendulum in its upright position ( control), while th ...

For robustness, require at least 6 dB of gain margin and 40 degrees of phase margin at the plant input. % Stability margins req3 ...

Validation Use viewGoal to further analyze how the best design fares against each requirement. figure('Position',[100 100 575 66 ...

13 Control System Tuning Examples ...

These plots confirm that the first two requirements are nearly satisfied while the last two are strictly enforced. Next, plot th ...

C1 = s Kp + Kd * -------- Tf*s+1 with Kp = 5.9, Kd = 1.9, Tf = 0.051 Name: Position_Controller Continuous-time PDF controller in ...

To complete the validation, upload the tuned values to Simulink and simulate the nonlinear response of the cart/pendulum assembl ...

Figure 3: Cart/pendulum simulation with tuned controllers. Close the model after simulation. set_param('rct_pendulum','SimMechan ...

Digital Control of Power Stage Voltage This example shows how to tune a high-performance digital controller with bandwidth close ...

The controller must regulate the voltage Vchip delivered to the device to track the setpoint Vcmd and be insensitive to variatio ...

The power stage should respond to a setpoint change in desired voltage Vcmd in about 5 sampling periods with a peak error (acros ...

s = tf('s'); nf = pi/Tm; % Nyquist frequency Req2 = TuningGoal.Gain('iLoad','Vchip',1.5e-3 * s/nf); Req2.Focus = [nf/1e4, nf]; R ...