four or less. Here we tune a second-order controller since the "SS2" block in the Simulink
model has two states.
Figure 1: Second-order blackbox controller.
Use the slTuner interface to configure the Simulink model for tuning. Mark the block
"SS2" as tunable, register the locations where to assess margins and loop shapes, and
specify that linearization and tuning should be performed at the controller sampling rate.
ST0 = slTuner('rct_diesel','SS2');
ST0.Ts = 0.2;
addPoint(ST0,{'EGRLIFT','VGTPOS','DIESEL ENGINE'})
Now use systune to tune the state-space controller subject to our control objectives.
Treat the stability margins and roll-off target as hard constraints and try to best meet the
remaining objectives (soft goals). Randomize the starting point to reduce exposure to
undesirable local minima.
Opt = systuneOptions('RandomStart',2);
rng(0), ST1 = systune(ST0,[TR DR],[M1 M2 RO],Opt);
Final: Soft = 1.17, Hard = 0.70623, Iterations = 503
Final: Soft = 1.05, Hard = 0.97829, Iterations = 535
Final: Soft = 1.09, Hard = 0.8784, Iterations = 611
MIMO Control of Diesel Engine