controller sample time that you specify with the Controller sample time (sec)
parameter. Because of this condition, the fastest rise time you can enforce for tuning is
about 1.67Ts. If this rise time does not meet your design goals, consider reducing Ts.
To provide the target bandwidth via an input port, select Use external source.
Programmatic Use
Block Parameter: Bandwidth
Type: positive scalar
Default: 1
Target phase margin (degrees) — Target minimum phase margin of open-loop
response
60 (default) | scalar in range 0–90
Specify a target minimum phase margin for the tuned open-loop response at the
crossover frequency. The target phase margin reflects desired robustness of the tuned
system. Typically, choose a value in the range of about 45°–60°. In general, higher phase
margin improves overshoot, but can limit response speed. The default value, 60°, tends to
balance performance and robustness, yielding about 5–10% overshoot, depending on the
characteristics of your plant.
To provide the target phase margin via an input port, select Use external source.
Tunable: Yes
Programmatic Use
Block Parameter: TargetPM
Type: scalar
Values: 0–90
Default: 60
Experiment Tab
Sine Amplitudes — Amplitude of sinusoidal perturbations
1 (default) | scalar | vector of length 4
During the tuning experiment, the block injects a sinusoidal signal into the plant at the
frequencies [1/3, 1, 3, 10]ωc , where ωc is the target bandwidth for tuning. Use Sine
Amplitudes to specify the amplitude of each of these injected signals. Specify a:
- Scalar value to inject the same amplitude at each frequency
Open-Loop PID Autotuner