Simulink Control Design™ - MathWorks

Tuning Method Description Requirements and Limitations

Internal Model

Control (IMC)

Tuning

Obtain a full-order stabilizing

feedback controller using the IMC

design method.

Assumes that your control system

uses an IMC architecture that

contains a predictive model of

your plant dynamics.

Maximum controller order

depends on the effective plant

dynamics.

A common design approach is to generate an initial compensator using PID tuning, LQG

synthesis, loop shaping, or IMC tuning. You can then improve the compensator

performance using either optimization-based tuning or graphical tuning.

For more information on automated tuning methods, see “Design Compensator Using

Automated Tuning Methods” (Control System Toolbox).

Effective Plant for Tuning

An effective plant is the system controlled by a compensator that contains all elements of

the open loop in your model other than the compensator you are tuning. The following

diagrams show examples of effective plants:

Knowing the properties of the effective plant seen by your compensator can help you

understand which tuning methods work for your system. For example, some automated

tuning methods apply only to compensators whose open loops (L=CP

∧

) have stable

9 Classical Control Design