Suppose your goal is to tune the MIMO feedback loop between r and y to a bandwidth
between 0.1 and 0.5 rad/s. Suppose you also require a gain margin of 7 dB and a phase
margin of 45 degrees. You can use the Quick Loop Tuning option to quickly configure
Control System Tuner for these goals.
In the Simulink model editor, open Control System Tuner by selecting Analysis >
Control Design > Control System Tuner.
Designate the blocks you want to tune. In the Tuning tab of Control System Tuner, click
Select Blocks. In the Select tuned blocks dialog box, click Add blocks. Then, select
DM, PI_L, and PI_V for tuning. (For more information about selecting tuned blocks, see
“Specify Blocks to Tune in Control System Tuner” on page 10-24.)
The model is now ready to tune to the target bandwidth and stability margins.
Specify the Goals for Quick Loop Tuning
In the Tuning tab, select New Goal > Quick Loop Tuning.
For Quick Loop Tuning, you need to identify the actuator signals and sensor signals that
separate the plant portion of the control system from the controller, which for the purpose
of Quick Loop Tuning is the rest of the control system. The actuator signals are the
controller outputs that drive the plant, or the plant inputs. The sensor signals are the
measurements of plant output that feed back into the controller. In this control system,
Quick Loop Tuning of Feedback Loops in Control System Tuner