Simulink Control Design™ - MathWorks

mdl = 'scdDCMotor';

open_system(mdl)

Perform Batch Linearization

The goal of the controller is to provide tracking to step changes in reference angular

velocity.

For this example, the physical constants for the motor are:

• R = 2.0 +/- 10% Ohms


• L = 0.5 Henrys


• Km = 0.1 Torque constant


• Kb = 0.1 Back emf constant


• Kf = 0.2 Nms


• J = 0.02 +/- .01 kg m^2/s^2

Note that parameters R and J are specified as a range of values.

To design a controller which will work for all physical parameter values, create a

representative set of plants by sampling these values.

For parameters R and J, use their nominal, minimum, and maximum values.

R = [2,1.8,2.2];

J = [.02,.03,.01];

To create an LTI array of plant models, batch linearize the DC motor plant. For each

combination of the sample values of R and J, linearize the Simulink model. To do so,

specify a linearization input point at the output of the controller block and a linearization

output point with a loop opening at the output of the load block as shown in the model.

9 Classical Control Design