scheduled PI controller, the Concentration controller subsystem, in which the gains
Kp and Ki vary with the scheduling variable Cr.
To tune the lookup tables Kp and Ki, create a tunable surface for each one. Suppose that
CrEQ is the vector of design points, and that you expect the gains to vary quadratically
with Cr.
TuningGrid = struct('Cr',CrEQ);
ShapeFcn = @(Cr) [Cr , Cr^2];
Kp = tunableSurface('Kp',0,TuningGrid,ShapeFcn);
Ki = tunableSurface('Ki',-2,TuningGrid,ShapeFcn);
Suppose that you have an array Gd of linearizations of the plant subsystem, CSTR, at each
of the design points in CrEQ. (See “Plant Models for Gain-Scheduled Controller Tuning”
on page 11-18). Create an slTuner interface that substitutes this array for the plant
subsystem and designates the two lookup-table blocks for tuning.
Parameterize Gain Schedules