Simulink Control Design™ - MathWorks

Specify PI-D and I-PD Controllers Using PID Controller (2DOF)

Block

To specify a PI-D or I-PD Controller using the PID Controller (2DOF) or Discrete PID

Controller (2DOF) blocks, open the block dialog. In the Controller menu, select PID.

• For a PI-D controller, enter 1 in the Setpoint weight (b) box, and 0 in the Setpoint
  weight (c) box.


• For an I-PD controller, enter 0 in the Setpoint weight (b) box, and 0 in the Setpoint
  weight (c) box.

For an example that demonstrates the PI-D and I-PD controller forms, type

ex_scd_pid2dof_setpoint_based_controllers. This opens a model that compares

the performance of a 1DOF PID, a PI-D, and an I-PD controller.

Automatic Tuning of PI-D and I-PD Controllers

You can use PID Tuner to automatically tune PI-D and I-PD controllers while preserving

the fixed b and c values. To do so:

(^1) In the model, double-click the block. In the block dialog box, in the Controller menu,
select PID.
(^2) Click Tune. PID Tuner opens.
(^3) In PID Tuner, in the Type menu, select PI-DF or I-PDF. PID Tuner retunes the
controller gains, fixing b = 1 and c = 0 for PI-D, and b = 0 and c for I-PD.
7 PID Controller Tuning