Simulink Control Design™ - MathWorks

load_system('csthl20_control')

CTYPE = 2; % Select SISO architecture

run(fullfile(matlabroot,'examples','control','main','HL20recapPart2.m'))

ST0

slTuner tuning interface for "csthl20_control":

No tuned blocks. Use the addBlock command to add new blocks.

9 Analysis points:

--------------------------

Point 1: Signal "da;de;dr", located at port 1 of csthl20_control/Flight Control System/Controller

Point 2: Signal "pqr", located at port 2 of csthl20_control/HL20 Airframe

Point 3: Port 1 of csthl20_control/Flight Control System/Alpha_deg

Point 4: Port 1 of csthl20_control/Flight Control System/Beta_deg

Point 5: Port 1 of csthl20_control/Flight Control System/Phi_deg

Point 6: Port 1 of csthl20_control/Flight Control System/Controller/Classical/Demands

Point 7: Signal "p_demand", located at port 1 of csthl20_control/Flight Control System/Controller/Classical/Roll-off1

Point 8: Signal "q_demand", located at port 1 of csthl20_control/Flight Control System/Controller/Classical/Roll-off2

Point 9: Signal "r_demand", located at port 1 of csthl20_control/Flight Control System/Controller/Classical/Roll-off3

No permanent openings. Use the addOpening command to add new permanent openings.

Properties with dot notation get/set access:

Parameters : []

OperatingPoints : [] (model initial condition will be used.)

BlockSubstitutions : [3x1 struct]

Options : [1x1 linearize.SlTunerOptions]

Ts : 0

Setup for Outer Loop Tuning

We now shift focus to the three gain-scheduled PI loops controlling roll (phi), angle of

attack (alpha), and sideslip angle (beta). These loops could be tuned one at a time (3 loops

and 40 operating points equals 120 design points). You could also use pidtune to tune

the PI gains in batch mode for specific target bandwidth and phase margin requirements.

Both approaches have caveats:

• It is difficult to account for loop interactions.


• The gains obtained at each design point may be inconsistent and require smoothing
  across operating points.

An alternative approach is the concept of "Gain Surface Tuning" [1] where you

parameterize the gain schedules P(alpha,beta) and I(alpha,beta) as polynomial surfaces

11 Gain-Scheduled Controllers