Simulink Control Design™ - MathWorks

recommended for PID autotuning against a physical plant. If you want to tune in

continuous time against a Simulink model of the plant, use a fast experiment sample time,

such as 0.02/ωc.

Dependencies

This parameter is enabled when the Time Domain is continuous-time.

Programmatic Use

Block Parameter: ContinuousTs

Type: positive scalar

Default: 0.02

Integrator method — Discrete integration formula for integrator term

Forward Euler (default) | Backward Euler | Trapezoidal

Specify the discrete integration formula for the integrator term in your controller. In

discrete time, the PID controller transfer function assumed by the block is:

C=P+FizI+

D

N+Fdz

,

in parallel form, or in ideal form,

C=P1+

Fiz

I +

D

D/N+Fdz.

For a controller sample time Ts, the Integrator method parameter determines the

formula Fi as follows:

Integrator method Fi

Forward Euler Ts

z− 1

Backward Euler Tsz

z− 1

Trapezoidal Ts

2

z+1

z− 1

For more information about the relative advantages of each method, see the Discrete PID

Controller block reference page.

16 Blocks — Alphabetical List