Simulink Control Design™ - MathWorks

Figure 2: Regulation loop.

To regulate around zero, you can use the following LQG criterion:

The first term in the integral penalizes the deviation of from zero, and the second

term penalizes the control effort. Using systune, you can tune the PID controller to

minimize the cost. To do this, use the LQG requirement

Qyu = diag([1 0.05]); % weighting of y^2 and u^2

R4 = TuningGoal.LQG({'d','n'},{'y','u'},1,Qyu);

See Also

TuningGoal.LQG | TuningGoal.StepRejection | TuningGoal.StepTracking |

TuningGoal.Transient

Related Examples

• “Frequency-Domain Specifications” (Control System Toolbox)

13 Control System Tuning Examples