To constrain dynamics or ensure stability of an entire control system or a feedback loop in
the control system, use “Poles Goal” on page 10-169.
Creation
In the Tuning tab of Control System Tuner, select New Goal > Constraint on
controller dynamics to create a Controller Poles Goal.
Command-Line Equivalent
When tuning control systems at the command line, use TuningGoal.ControllerPoles
to specify a controller poles goal.
Constrain Dynamics of Tuned Block
From the drop-down menu, select the tuned block in your control system to which to
apply the Controller Poles Goal.
If the block you want to constrain is not in the list, add it to the Tuned Blocks list. In
Control System Tuner, in the Tuning tab, click Select Blocks. For more information
about adding tuned blocks, see “Specify Blocks to Tune in Control System Tuner” on page
10-24.
Keep Poles Inside the Following Region
Use this section of the dialog box to specify the limits on pole locations.
- Minimum decay rate
Enter the desired minimum decay rate for the poles of the tunable block. Poles of the
block are constrained to satisfy Re(s) < -MinDecay for continuous-time blocks, or
log(|z|) < -MinDecay*Ts for discrete-time blocks with sample time Ts.Specify a nonnegative value to ensure that the block is stable. If you specify a negative
value, the tuned block can include unstable poles.- Minimum damping
Enter the desired minimum damping ratio of poles of the tunable block, as a value
between 0 and 1. Poles of the block that depend on the tunable parameters are
constrained to satisfy Re(s) < -MinDamping*|s|. In discrete time, the damping
ratio is computed using s=log(z)/Ts.Controller Poles Goal