Simulink Control Design™ - MathWorks

Configure Autotuner Block

After connecting the Closed-Loop PID Autotuner block with the plant model and PID

block, configure the tuning and experiment settings.

On the Tuning tab, there are two main tuning settings:

• Target bandwidth - Determines how fast you want the controller to respond. In this
  example, choose 5000 rad/sec for current control and 100 rad/sec for speed control.


• Target phase margin - Determines how robust you want the controller to be. In this
  example, choose 70 degrees for current control and 90 degree for speed control.

On the Experiment tab, there are three main experiment settings:

• Plant Type - Specifies whether the plant is asymptotically stable or integrating. In this
  example, the FOC PMSM model is stable.


• Plant Sign - Specifies whether the plant has a positive or negative sign. The plant
  sign is positive if a positive change in the plant input at the nominal operating point
  results in a positive change in the plant output when the plant reaches a new steady
  state. Otherwise, the plant sign is negative. If a plant is stable, the plant sign is
  equivalent to the sign of its dc gain. If a plant is integrating, the plant sign is positive
  (or negative) if the plant output keeps increasing (or decreasing). In this example, the
  FOC PMSM model has a positive plant sign.

8 PID Autotuning