Most runs return 1.23 as optimal gain value, suggesting that this local minimum has a
wide region of attraction and is likely to be the global optimum. Use showBlockValue to
see the corresponding gain values:
showBlockValue(ST)
AnalysisPoints_ =
D =
u1 u2 u3 u4
y1 1 0 0 0
y2 0 1 0 0
y3 0 0 1 0
y4 0 0 0 1
Name: AnalysisPoints_
Static gain.
az_Control =
1
Kp + Ki * ---
s
with Kp = 0.00165, Ki = 0.00166
Name: az_Control
Continuous-time PI controller in parallel form.
q_Gain =
D =
u1
y1 1.985
Name: q_Gain
Static gain.
Plot the closed-loop response for this set of gains:
T = getIOTransfer(ST,'az ref','az');
step(T,5)
Using Parallel Computing to Accelerate Tuning