The available choices for top-level model include the referenced model itself, plus any
open model in which the referenced model:- Appears exactly once, and
- Is configured for normal simulation mode.
The tuning tools do not detect models that contain the model reference but are not open.Selecting innerloop causes the tuner to disregard model_ref_pid. Instead, the tuner
tunes the PID Controller block for the plant G_Inner alone, as if there were no outer
loop.Alternatively, you can select model_ref_pid as the top-level model. When you do so, the
tuner considers the dynamics of both the inner and outer loops, and tunes with both loops
closed. In this case, PID controller sees the effective plant
(1+G_Outer*Gain)*G_Inner.Select the desired top-level model, and click OK. The tuner you selected with the Select
Tuning Method opens for tuning the specified top-level model.7 PID Controller Tuning