Simulink Control Design™ - MathWorks

About Operating Points................................ 1-
- What Is an Operating Point?.......................... 1-
- What Is a Steady-State Operating Point?................. 1-
- Simulink Model States Included in Operating Point Object... 1-

Compute Steady-State Operating Points.................. 1-
- Steady-State Operating Point Search (Trimming).......... 1-
- Steady-State Operating Point from Simulation Snapshot..... 1-
- Which Model States Must Be at Steady State? 1-
- Choose Operating Point Search Tools................... 1-

View and Modify Operating Points...................... 1-
- View and Modify Operating Point in Steady State Manager 1-
- View and Modify Operating Point in Linear Analysis Tool... 1-
- View and Modify Operating Point at the Command Line.... 1-
- 1- Compute Steady-State Operating Points from Specifications
- Command Line.................................... 1- Compute Operating Points from Specifications at the
- State Manager 1- Compute Operating Points from Specifications Using Steady
  - Open Steady State Manager 1-
  - Define Operating Point Specifications.................. 1-
  - Trim Model 1-
  - Validate Operating Point............................ 1-
  - Trim Model for Different Specifications................ 1-
  - Extract Operating Point from Report 1-
  - Export Operating Point Data 1-
  - Generate MATLAB Code from Linear Analysis Tool....... 1-

Linearize Nonlinear Models............................ 2-
- What Is Linearization?.............................. 2-
- Applications of Linearization 2-
- Linearization in Simulink Control Design................ 2-
- Model Requirements for Exact Linearization.............. 2-
- Operating Point Impact on Linearization 2-

Choose Linearization Tools............................. 2-
- Choosing Simulink Control Design Linearization Tools...... 2-
  - Estimation 2- Choosing Exact Linearization Versus Frequency Response
    - 2- Linearization Using Simulink Control Design Versus Simulink

Specify Portion of Model to Linearize................... 2-
- Analysis Points................................... 2-
- Opening Feedback Loops 2-
- Ways to Specify Portion of Model to Linearize............ 2-

Specify Portion of Model to Linearize in Simulink Model... 2-
- Specify Analysis Points............................. 2-
- Select Bus Elements as Analysis Points................. 2-
- 2- Specify Portion of Model to Linearize in Linear Analysis Tool
  - Edit Analysis Points 2-
  - Edit Simulink Model Analysis Points................... 2-

Specify Portion of Model to Linearize at Command Line.... 2-
- Save Analysis Points in Simulink Model................ 2-
- Obtain Analysis Points from Simulink Model 2-

How the Software Treats Loop Openings................. 2-

Linearize Plant...................................... 2-

Linearize Plant Using Linear Analysis Tool.............. 2-

Linearize Plant at Command Line..................... 2-

Design........................................... 2- Mark Signals of Interest for Control System Analysis and
- Analysis Points................................... 2-
- Specify Analysis Points for MATLAB Models............. 2-
- Specify Analysis Points for Simulink Models............. 2-
- Refer to Analysis Points for Analysis and Tuning 2-

Compute Open-Loop Response 2-

Compute Open-Loop Response Using Linear Analysis Tool.. 2-

Compute Open-Loop Response at the Command Line...... 2-

Linearize Simulink Model at Model Operating Point 2-

Linearize Simulink Model Using Linear Analysis Tool...... 2-

Linearize Simulink Model at Command Line............. 2-

2- Visualize Bode Response of Simulink Model During Simulation

Linearize at Trimmed Operating Point.................. 2-

Linearize at Simulation Snapshot 2-

Linearize at Triggered Simulation Events 2-

Linearization of Models with Delays................... 2-

Linearization of Models with Model References 2-

Visualize Linear System at Multiple Simulation Snapshots 2-

Discretized During Simulation...................... 2- Visualize Linear System of a Continuous-Time Model
- 2- Plotting Linear System Characteristics of a Chemical Reactor

Order States in Linearized Model..................... 2-

Tool 2- Control State Order of Linearized Model using Linear Analysis
- 2- Control State Order of Linearized Model using MATLAB Code

Validate Linearization In Time Domain................. 2-

Validate Linearization in Time Domain................ 2-

Choosing Time-Domain Validation Input Signal.......... 2-

Validate Linearization In Frequency Domain............ 2-

Analysis Tool................................. 2- Validate Linearization in Frequency Domain using Linear

Choosing Frequency-Domain Validation Input Signal..... 2-

2- View Linearized Model Equations Using Linear Analysis Tool

Analyze Results Using Linear Analysis Tool Response Plots 2-

View System Characteristics on Response Plots......... 2-

Generate Additional Response Plots of Linearized System.. 2-

Add Linear System to Existing Response Plot........... 2-

Customize Characteristics of Plot in Linear Analysis Tool.. 2-

Print Plot to MATLAB Figure in Linear Analysis Tool...... 2-

Tool............................................ 2- Generate MATLAB Code for Linearization from Linear Analysis

When to Specify Individual Block Linearization 2-

Expression...................................... 2- Specify Linear System for Block Linearization Using MATLAB

Function........................................ 2- Specify D-Matrix System for Block Linearization Using

Specifying Custom Linearizations for Simulink Blocks.... 2-

Augment the Linearization of a Block 2-

Models with Time Delays............................ 2-

Choose Approximate Versus Exact Time Delays 2-

Specify Exact Representation of Time Delays 2-

Linearize Multirate Models 2-

Change Sample Time of Linear Model................. 2-

Change Linearization Rate Conversion Method.......... 2-

Linearization of Multirate Models..................... 2-

Linearization Using Different Rate Conversion Methods... 2-

Linearization.................................... 2- Change Perturbation Level of Blocks Perturbed During
- Change Block Perturbation Level 2-
- Perturbation Levels of Integer Valued Blocks 2-
- 2- Linearize Blocks with Nondouble Precision Data Type Signals
  - Overriding Data Types Using Data Type Conversion Block 2-
  - Overriding Data Types Using Fixed Point Tool.......... 2-

Subsystems) 2- Linearize Event-Based Subsystems (Externally Scheduled
- Linearizing Event-Based Subsystems................. 2-
- Approaches for Linearizing Event-Based Subsystems 2-
  - Subsystems.................................. 2- Periodic Function Call Subsystems for Modeling Event-Based
  - (Lump-Average Model).......................... 2- Approximating Event-Based Subsystems Using Curve Fitting
- 2- Configure Models with Pulse Width Modulation (PWM) Signals

Linearize Simscape Networks......................... 2-

Find Steady-State Operating Point 2-

Specify Analysis Points............................ 2-

Linearize Model................................. 2-

Troubleshoot Simscape Network Linearizations 2-

Identification 2- Specifying Linearization for Model Components Using System

Exact Linearization Algorithm........................ 2-

Continuous-Time Models.......................... 2-

Multirate Models................................ 2-

Perturbation of Individual Blocks.................... 2-

User-Defined Blocks.............................. 2-

Look Up Tables 2-

Characteristics.................................. 4-

Check Operating Point................................ 4-

Check Analysis Point Placement........................ 4-

Check Linearization I/O Points Placement................ 4-

Check Loop Opening Placement 4-

Identify and Fix Common Linearization Issues 4-

Enable Linearization Advisor 4-

Blocks That Are Potentially Problematic for Linearization... 4-

Find Specific Blocks in Linearization Results............ 4-

Linearization Path................................ 4-

Troubleshoot Batch Linearizations 4-

Troubleshoot Linearization Results in Linear Analysis Tool. 4-

Troubleshoot Linearization Results at Command Line 4-

4- Find Blocks in Linearization Results Matching Specific Criteria
- Run Built-In Queries............................... 4-
- Create and Run Queries 4-

Block Linearization Troubleshooting.................... 4-

Diagnostic Messages 4-

Linearization Summary............................. 4-

Block Linearization................................ 4-

Block Operating Point.............................. 4-

Common Problematic Blocks 4-

Speed Up Linearization of Complex Models 4-

Factors That Impact Linearization Performance.......... 4-

Blocks with Complex Initialization Functions............ 4-
- 4- Disabling the Linearization Advisor in the Linear Analysis Tool

Batch Linearization of Large Simulink Models........... 4-

Frequency Response Estimation

Frequency Response Estimation Basics 5-
- Frequency Response Models 5-
- Offline and Online Estimation......................... 5-
- Basic Estimation Workflow........................... 5-
- Model Requirements 5-

Estimate Frequency Response Using Linear Analysis Tool... 5-
- Using Linear Analysis Tool.......................... 5- Estimate Frequency Response with Linearization-Based Input

Estimate Frequency Response at the Command Line 5-

Analyze Estimated Frequency Response................. 5-
- View Simulation Results............................ 5-
- Interpret Frequency Response Estimation Results 5-
- Analyze Simulated Output and FFT at Specific Frequencies 5-
- Annotate Frequency Response Estimation Plots.......... 5-
  - Output (MIMO) Systems.......................... 5- Displaying Estimation Results for Multiple-Input Multiple-

Estimation Input Signals............................. 5-
- Offline Estimation................................. 5-
- Online Estimation 5-
- Sinestream Signals 5-
- Chirp Signals.................................... 5-
- Random Signals 5-
- Step Signals 5-
- Arbitrary Signals 5-
- Superposition Signals.............................. 5-

Sinestream Input Signals 5-
- Create Sinestream Signals Using Linear Analysis Tool 5-
- Create Sinestream Signals Using MATLAB Code.......... 5-
- Sinestream Signals for Online Estimation............... 5-

Chirp Input Signals 5-
- Create Chirp Signals Using Linear Analysis Tool.......... 5-
- Create Chirp Signals Using MATLAB Code 5-
- Plant............................................ 6-

PID Controller Tuning

Introduction to Model-Based PID Tuning in Simulink....... 7-
- What Plant Does PID Tuner See? 7-
- PID Tuning Algorithm 7-

Open PID Tuner...................................... 7-
- Prerequisites for PID Tuning 7-
- Opening PID Tuner 7-

Analyze Design in PID Tuner 7-
- Plot System Responses 7-
- View Numeric Values of System Characteristics 7-
- Export Plant or Controller to MATLAB Workspace 7-
- Refine the Design................................. 7-

Verify the PID Design in Your Simulink Model............ 7-

Tune at a Different Operating Point..................... 7-
- 7- Known State Values Yield the Desired Operating Conditions
- 7- Model Reaches Desired Operating Conditions at a Finite Time
- 7- You Computed an Operating Point in the Linear Analysis Tool
- Disturbance Rejection 7- Tune PID Controller to Favor Reference Tracking or

Design Two-Degree-of-Freedom PID Controllers 7-
- About Two-Degree-of-Freedom PID Controllers 7-
- Tuning Two-Degree-of-Freedom PID Controllers 7-
- Fixed-Weight Controller Types....................... 7-

Tune PID Controller Within Model Reference 7-
- Models with Multiple Instances of the Referenced Model... 7-
  - 7- Referenced Model in Accelerated or Other Simulation Modes

Specify PI-D and I-PD Controllers...................... 7-

About PI-D and I-PD Controllers...................... 7-
- Block 7- Specify PI-D and I-PD Controllers Using PID Controller (2DOF)

Automatic Tuning of PI-D and I-PD Controllers........... 7-

7- Design PID Controller from Plant Frequency-Response Data
- Use Frequency Response Based PID Tuner.............. 7-
- Use frestimate or Linear Analysis Tool................. 7-

Frequency-Response Based Tuning..................... 7-

How Frequency Response Based PID Tuner Works 7-

Open Frequency Response Based PID Tuner............. 7-

Configure Experiment Settings....................... 7-

Configure Design Goals............................ 7-

Tune and Validate Controller Gains.................... 7-

Bandwidth 7- Design PID Controller Using Plant Frequency Response Near

Import Measured Response Data for Plant Estimation 7-

Response Data.................................... 7- Interactively Estimate Plant from Measured or Simulated

System Identification for PID Control................... 7-

Plant Identification................................ 7-
- 7- Linear Approximation of Nonlinear Systems for PID Control

Linear Process Models............................. 7-

Advanced System Identification Tasks.................. 7-

Preprocess Data 7-

Ways to Preprocess Data 7-

Remove Offset................................... 7-

Scale Data 7-

Extract Data..................................... 7-

Filter Data...................................... 7-

Resample Data................................... 7-

Replace Data.................................... 7-

Input/Output Data for Identification.................... 7-

Data Preparation................................. 7-

Data Preprocessing............................... 7-

Choosing Identified Plant Structure.................... 7-

Process Models 7-

State-Space Models............................... 7-

Existing Plant Models.............................. 7-

Switching Between Model Structures.................. 7-

Estimating Parameter Values........................ 7-

Handling Initial Conditions.......................... 7-

Frequency Response Data 7- Design Controller for Power Electronics Model Using

Simulated I/O Data............................... 7- Design Controller for Power Electronics Model Using
- Boost Converter Model............................ 7-
- Find Model Operating Point 7-
- Specify Controller Structure........................ 7-
- Identify Plant Model 7-
- Tune Controller................................. 7-
- Validate Controller 7-

Design PID Controller Using Simulated I/O Data......... 7-

7- Design PID Controller Using Estimated Frequency Response

Frequency Response Estimation Method 7- Design PID Controllers for a Power Factor Corrector using
- 7- Design Family of PID Controllers for Multiple Operating Points

Implement Gain-Scheduled PID Controllers............. 7-

Plant Cannot Be Linearized or Linearizes to Zero........ 7-

How to Fix It................................... 7-

Simulink Control Design™ - MathWorks

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