Figure 2: Simplified control structure.
Using variant subsystems, you can implement both control structures in the same
Simulink model and use a variable to switch between them. Here setting MODE=2 selects
the MIMO PI structure. As before, use systune to tune the three 2-by-2 gain matrices
Kp, Ki, Kff in the simplified control structure.
% Select "MIMO PI" variant in "CONTROLLER" block
MODE = 2;
% Configure tuning interface
ST0 = slTuner('rct_diesel',{'Kp','Ki','Kff'});
ST0.Ts = 0.2;
addPoint(ST0,{'EGRLIFT','VGTPOS','DIESEL ENGINE'})
% Tune MIMO PI controller.
ST2 = systune(ST0,[TR DR],[M1 M2 RO]);
Final: Soft = 1.09, Hard = 0.99779, Iterations = 272
MIMO Control of Diesel Engine