Simulink Control Design™ - MathWorks

rng('default')

Options = looptuneOptions('RandomStart',30,'UseParallel',true);

Next call looptune to launch the tuning algorithm. The 30 runs are automatically

distributed across available computing resources:

Controls = 'delta fin';

Measurements = {'az','q'};

[ST,gam,Info] = looptune(ST0,Controls,Measurements,wc,TrackReq,Options);

Starting parallel pool (parpool) using the 'local' profile ... connected to 6 workers.

Final: Failed to enforce closed-loop stability (max Re(s) = 0.042)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.039)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.082)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Peak gain = 1.23, Iterations = 53

Final: Peak gain = 62, Iterations = 92

Some closed-loop poles are marginally stable (decay rate near 1e-07)

Final: Peak gain = 62, Iterations = 128

Some closed-loop poles are marginally stable (decay rate near 1e-07)

Final: Peak gain = 1.23, Iterations = 128

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Peak gain = 1.23, Iterations = 130

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.04)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.082)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Peak gain = 1.23, Iterations = 98

Final: Peak gain = 61.9, Iterations = 79

Final: Failed to enforce closed-loop stability (max Re(s) = 0.039)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.082)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.051)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Failed to enforce closed-loop stability (max Re(s) = 0.041)

Final: Peak gain = 1.23, Iterations = 42

13 Control System Tuning Examples