Simulink Control Design™ - MathWorks

For example, suppose you generate a MATLAB script after completing all steps in the

example “Control of a Linear Electric Actuator Using Control System Tuner” (Control

System Toolbox). The generated script computes the operating point used for tuning,

designates the blocks to tune, creates the tuning goals, and performs other operations to

reproduce the result at the command line.

The first section of the script creates the slTuner interface to the Simulinkmodel

(rct_linact in this example). The slTuner interface stores a linearization of the model

and parameterizations of the blocks to tune.

%% Create system data with slTuner interface

TunedBlocks = {'rct_linact/Current Controller/Current PID'; ...

'rct_linact/Speed Controller/Speed PID'};

AnalysisPoints = {'rct_linact/Speed Demand (rpm)/1'; ...

'rct_linact/Current Sensor/1'; ...

'rct_linact/Hall Effect Sensor/1'; ...

'rct_linact/Speed Controller/Speed PID/1'; ...

'rct_linact/Current Controller/Current PID/1'};

OperatingPoints = 0.5;

% Specify the custom options

Options = slTunerOptions('AreParamsTunable',false);

% Create the slTuner object

CL0 = slTuner('rct_linact',TunedBlocks,AnalysisPoints,OperatingPoints,Options);

The slTuner interface also specifies the operating point at which the model is linearized,

and marks as analysis points all the signal locations required to specify the tuning goals

for the example. (See “Create and Configure slTuner Interface to Simulink Model” on

page 10-210.)

If you are tuning a control system modeled in MATLAB instead of Simulink, the first

section of the script constructs a genss model that has equivalent dynamics and

parameterization to the genss model of the control system that you specified Control

System Tuner.

Next, the script creates the three tuning goals specified in the example. The script uses

TuningGoal objects to capture these tuning goals. For instance, the script uses

TuningGoal.Tracking to capture the Tracking Goal of the example.

%% Create tuning goal to follow reference commands with prescribed performance

% Inputs and outputs

Inputs = {'rct_linact/Speed Demand (rpm)/1'};

Outputs = {'rct_linact/Hall Effect Sensor/1[rpm]'};

% Tuning goal specifications

ResponseTime = 0.1; % Approximately reciprocal of tracking bandwidth

DCError = 0.001; % Maximum steady-state error

PeakError = 1; % Peak error across frequency

% Create tuning goal for tracking

TR = TuningGoal.Tracking(Inputs,Outputs,ResponseTime,DCError,PeakError);

TR.Name = 'TR'; % Tuning goal name

10 Control System Tuning