Simulink Control Design™ - MathWorks

To get started, load the model, set CTYPE to 3 to select the MIMO variant of the

Controller block, and reapply the steps of Part 2 for closing the inner loops (this part of

the design is unchanged). Note that this creates and configures an slTuner interface

ST0 for interacting with the Simulink model.

load_system('csthl20_control')

CTYPE = 3; % MIMO architecture

run(fullfile(matlabroot,'examples','control','main','HL20recapPart2.m'))

ST0

slTuner tuning interface for "csthl20_control":

No tuned blocks. Use the addBlock command to add new blocks.

9 Analysis points:

--------------------------

Point 1: Signal "da;de;dr", located at port 1 of csthl20_control/Flight Control System/Controller

Point 2: Signal "pqr", located at port 2 of csthl20_control/HL20 Airframe

Point 3: Port 1 of csthl20_control/Flight Control System/Alpha_deg

Point 4: Port 1 of csthl20_control/Flight Control System/Beta_deg

Point 5: Port 1 of csthl20_control/Flight Control System/Phi_deg

Point 6: Port 1 of csthl20_control/Flight Control System/Controller/MIMO/Demands

Point 7: Signal "p_demand", located at port 1 of csthl20_control/Flight Control System/Controller/MIMO/Roll-off1

Point 8: Signal "q_demand", located at port 1 of csthl20_control/Flight Control System/Controller/MIMO/Roll-off2

Point 9: Signal "r_demand", located at port 1 of csthl20_control/Flight Control System/Controller/MIMO/Roll-off3

No permanent openings. Use the addOpening command to add new permanent openings.

Properties with dot notation get/set access:

Parameters : []

OperatingPoints : [] (model initial condition will be used.)

BlockSubstitutions : [3x1 struct]

Options : [1x1 linearize.SlTunerOptions]

Ts : 0

Setup for Outer Loop Tuning

As in the SISO design (“Attitude Control in the HL-20 Autopilot - SISO Design” (Control

System Toolbox)), the first step is to obtain a linearized model of the "plant" seen by the

outer loops at each (alpha,beta) condition. To account for the fact that the inner-loop

gains Kp,Kq,Kr vary with (alpha,beta), replace the "MIMO/Product" block by its linear

equivalent, which is the diagonal gain matrix

11 Gain-Scheduled Controllers