Simulink Control Design™ - MathWorks

conservative estimate for the experiment time is 200/ωc for closed-loop tuning or 100/ωc

for open-loop tuning, where ωcc is your target bandwidth. When the experiment stops, the

module computes new PID gains based on the estimated frequency response at the

system and your specified tuning goals. You can examine the tuned PID gains using the

pid gains signal.

When you examine these gains and transfer them to your own controller, be aware of the

meaning of these gains in the PID autotuner blocks. In discrete time, the blocks assume

the following PID controller transfer function:

C=P+FizI+

D

N+Fdz

,

in parallel form, or in ideal form,

C=P1+

Fiz

I

+ D

D/N+Fdz

.

Fi(z) and Fd(z) depend on the values you specify for the Integrator method and Filter

method formulas, respectively. For more details, see the Closed-Loop PID Autotuner or

Open-Loop PID Autotuner block reference pages.

After you transfer the tuned gains to your PID controller, you can observe and validate the

continued performance of your system with the new gains.

Access Autotuning Parameters After Deployment

Some of the parameters that you set to configure the autotuner are tunable, such that you

can access them in the generated code. For the parameters that are not tunable, you must

configure them in the block before deployment.

Tunable Parameters

The following parameters of the PID autotuner blocks are tunable after deployment. For

more information about all these parameters, see the Closed-Loop PID Autotuner or

Open-Loop PID Autotuner block reference pages.

Parameter Description

Target bandwidth (rad/sec) Target crossover frequency of open-loop

response

8 PID Autotuning