u1 u2
y1 -0.00799 -0.0008628
y2 -0.02043 0.0143
Name: Kp
Static gain.
Block 2: rct_diesel/CONTROLLER/MIMO PID/Ki =
D =
u1 u2
y1 -0.01056 -0.01415
y2 -0.03006 0.04687
Name: Ki
Static gain.
Block 3: rct_diesel/CONTROLLER/MIMO PID/Kff =
D =
u1 u2
y1 0.01385 -9.481e-05
y2 0.03156 -0.001445
Name: Kff
Static gain.
Nonlinear Validation
To validate the MIMO PI controller in the Simulink model, push the tuned controller
parameters to Simulink and run the simulation.
writeBlockValue(ST2)
The simulation results are shown below and confirm that the controller adequately tracks
setpoint changes in boost pressure and EGR massflow and quickly rejects changes in fuel
mass (at t=90) and in speed (at t=110).
MIMO Control of Diesel Engine