Simulink Control Design™ - MathWorks

For 2-DOF PID controller types such as PI2, PIDF2, and I-PD, PID Tuner computes

responses based upon the following architecture:

The system responses are based on the decomposition of the 2-DOF PID controller, C, into

a setpoint component Cr and a feedback component Cy, as described in “Two-Degree-of-

Freedom PID Controllers” (Control System Toolbox).

The following table summarizes the available responses for analysis plots in PID Tuner.

7 PID Controller Tuning