returns them at the pid gains port. A conservative estimate for the experiment time is
200/ωc for closed-loop tuning or 100/ωc for open-loop tuning, where ωc is your target
bandwidth. For more detailed information about how to configure the start-stop signal,
see the Closed-Loop PID Autotuner or Open-Loop PID Autotuner block reference pages.Step 3. Set PID Tuning Parameters
To specify the configuration of the PID controller in your system, use the following
parameters of the autotuner block:- Type
- Form
- Time Domain
- Controller sample time (sec)
- Integrator method
- Filter method
Then, specify the target bandwidth and phase margin for tuning with the Target
bandwidth (rad/sec) and Target phase margin (degrees) parameters, respectively.The target bandwidth is the target value for the 0-dB gain crossover frequency of the
tuned open-loop response CP, where P is the plant response, and C is the controller
response. This crossover frequency roughly sets the control bandwidth. For a rise-time τ,
a good guess for the target bandwidth is 2/τ.The target phase margin sets the robustness of the tuned system. Typically, choose a
value in the range of about 45°– 60°. In general, higher phase margin improves
overshoot, but can limit response speed. The default value, 60°, tends to balance
performance and robustness, yielding about 5-10% overshoot, depending on the
characteristics of your plant.You can set most tuning parameters in your own application after deployment, instead of
fixing them in the PID autotuner block before deployment. See “Access Autotuning
Parameters After Deployment” on page 8-24.For more details about the values to use for these parameters, see the Closed-Loop PID
Autotuner or Open-Loop PID Autotuner block reference pages.8 PID Autotuning