Simulink Control Design™ - MathWorks

Parameter Description

Target phase margin (degrees) Target minimum phase margin of open-loop

response

Sine Amplitudes Amplitude of sinusoidal perturbations

Estimate DC gain with step signal Inject step signal into plant

Step Amplitude Amplitude of step perturbation

Type PID controller type (such as PI, PD, or PID)

Form PID controller form

Integrator method Discrete integration formula for integrator

term

Filter method Discrete integration formula for derivative

filter term

Non-Tunable Parameters

The following parameters of the PID autotuner blocks are not tunable after deployment.
You must specify them in the block before code generation, and their values remain fixed
in your application. For more information about all these parameters, see the Closed-Loop
PID Autotuner or Open-Loop PID Autotuner block reference pages.

Parameter Description

Time Domain PID controller time domain

Controller sample time (sec) Sample time of PID controller (see “Modify

Sample Times After Deployment” on page

8-25)

Reduce memory and avoid task overrun

(external mode only)

Deploy tuning algorithm only

Data Type Floating-point precision

Modify Sample Times After Deployment

The Controller sample time (sec) parameter is not tunable. As a consequence, you
cannot access it directly in generated code when you deploy the block. To change the
controller sample time in the deployed block at run time:

(^1) Set Controller sample time (sec) to –1.
PID Autotuning in Real Time