Simulink Control Design™ - MathWorks

• Manually tune the parameters of each compensator using the compensator editor. For
  more information, see “Tune Simulink Blocks Using Compensator Editor” on page 9-
  85.


• Graphically tune the compensator poles, zeros, and gains using open/closed-loop Bode,
  root locus, or Nichols editor plots. Click Tuning Methods, and select an editor under
  Graphical Tuning.


• Optimize compensator parameters using both time-domain and frequency-domain
  design requirements (requires Simulink Design Optimization™ software). Click
  Tuning Methods, and select Optimization based tuning. For more information, see
  “Enforcing Time and Frequency Requirements on a Single-Loop Controller Design”
  (Simulink Design Optimization).


• Compute initial compensator parameters using automated tuning based on parameters
  such as closed-loop time constants. Click Tuning Methods, and select either PID
  Tuning, Internal Model Control (IMC) Tuning, Loop Shaping (requires Robust
  Control Toolbox™ software), or LQG Synthesis.

Complete Design

The following compensator parameters satisfy the design requirements:

• scdairframectrl/q Control/q Gain:

K_q = 2.7717622

• scdairframectrl/az Control/az Gain:

K_az = 0.00027507

• scdairframectrl/az Control/az DTF:

Numerator = [100.109745 -99.109745]

Denominator = [1 -0.88893]

The response of the closed-loop system is shown below:

9 Classical Control Design