Simulink Control Design™ - MathWorks

Compensator Tuning

We are seeking a 0.5 second response time to a step command in angular position with

minimum overshoot. This corresponds to a target bandwidth of approximately 5 rad/s.

The looptune command offers a convenient way to tune fixed-structure compensators

like the one in this application. To use looptune, first instantiate the slTuner interface

to automatically acquire the control structure from Simulink. Note that the signals of

interest are already marked as Linear Analysis Points in the Simulink model.

ST0 = slTuner('rct_dmc',{'Gain','Leadlag'});

Next use looptune to tune the compensator parameters for the target gain crossover

frequency of 5 rad/s:

12 Loop-Shaping Design