Adjusting signal amplitude causes the tuning goal to be evaluated on the scaled
transfer function Do–1T(s)Di, where T(s) is the unscaled transfer function. Do and Di are
diagonal matrices with the Amplitudes of output signals and Amplitudes of input
signals values on the diagonal, respectively.The default value, No, means no scaling is applied.- Apply goal to
Use this option when tuning multiple models at once, such as an array of models
obtained by linearizing a Simulink model at different operating points or block-
parameter values. By default, active tuning goals are enforced for all models. To
enforce a tuning requirement for a subset of models in an array, select Only Models.
Then, enter the array indices of the models for which the goal is enforced. For
example, suppose you want to apply the tuning goal to the second, third, and fourth
models in a model array. To restrict enforcement of the requirement, enter 2:4 in the
Only Models text box.For more information about tuning for multiple models, see “Robust Tuning
Approaches” (Robust Control Toolbox).Tips
- When you use this requirement to tune a control system, Control System Tuner
attempts to enforce zero feedthrough (D = 0) on the transfer that the requirement
constrains. Zero feedthrough is imposed because the H 2 norm, and therefore the value
of the tuning goal (see “Algorithms” on page 10-79), is infinite for continuous-time
systems with nonzero feedthrough.
Control System Tuner enforces zero feedthrough by fixing to zero all tunable
parameters that contribute to the feedthrough term. Control System Tuner returns an
error when fixing these tunable parameters is insufficient to enforce zero feedthrough.
In such cases, you must modify the requirement or the control structure, or manually
fix some tunable parameters of your system to values that eliminate the feedthrough
term.When the constrained transfer function has several tunable blocks in series, the
software’s approach of zeroing all parameters that contribute to the overall
feedthrough might be conservative. In that case, it is sufficient to zero the feedthrough
term of one of the blocks. If you want to control which block has feedthrough fixed to
zero, you can manually fix the feedthrough of the tuned block of your choice.10 Control System Tuning