Simulink Control Design™ - MathWorks

Suppose you want to change the parameterization of tunable blocks in the slTuner

interface. For example, suppose that after tuning the model, you want to test whether

changing from PI to PID controllers yields improved results. Change the parameterization

of the three PI controllers to PID controllers.

PID0 = pid(0,0.001,0.001,.01); % initial value for PID controllers

PID1 = tunablePID('C1',PID0);

PID2 = tunablePID('C2',PID0);

PID3 = tunablePID('C3',PID0);

setBlockParam(ST0,'PI1',PID1,'PI2',PID2,'PI3',PID3);

10 Control System Tuning