Simulink Control Design™ - MathWorks

Adding a Tracking Requirement

To remedy this issue, add an explicit requirement that az should follow the step command

azref with a 1 second response time. Also relax the gain crossover requirement to the

interval [3,12] to let the tuner find the appropriate gain crossover frequency.

TrackReq = TuningGoal.Tracking('az ref','az',1);

ST = looptune(ST0,Controls,Measurements,[3,12],TrackReq);

Final: Peak gain = 1.23, Iterations = 51

The step response from azref to az is now satisfactory:

Tr1 = getIOTransfer(ST,'az ref','az');

step(Tr1,5)

grid

13 Control System Tuning Examples