To configure the autotuner block to write tuned gains to your controller, designate the
controller as the associated PID block in the PID autotuner block parameters. (For more
information, see the see the Closed-Loop PID Autotuner or Open-Loop PID Autotuner
block reference pages.) Then, update your controller by clicking Update PID Block. You
can update the PID gains while the simulation is running. Doing so is useful for
immediately validating tuned PID gains.
NoteAt any time during simulation, you can change tuning or experiment parameters,
start the experiment again, and push the new tuned gains to the PID block. You can then
observe the behavior of your plant as simulation continues with the new gains.
Manual Update of PID Gains
If your custom PID controller does not satisfy the conditions for direct update, you must
transfer the tuned gains to your controller some other way, such as manually or with your
own logic.
When you examine these gains and transfer them to your own controller, be aware of the
meaning of these gains in the PID autotuner blocks. In discrete time, the blocks assume
the following PID controller transfer function:
C=P+FizI+D
N+Fdz,
in parallel form, or in ideal form,
C=P1+
Fiz
I+
D
D/N+Fdz.
Fi(z) and Fd(z) depend on the values you specify for the Integrator method and Filter
method formulas, respectively. For more details, see the Closed-Loop PID Autotuner or
Open-Loop PID Autotuner block reference pages.
See Also
Closed-Loop PID Autotuner | Open-Loop PID Autotuner
See Also