Simulink Control Design™ - MathWorks

T = systune(T0,[R1 R2 R3]);

Final: Soft = 1.03, Hard = -Inf, Iterations = 42

The final objective value is close to 1 so the tuning goals are essentially met. Plot the

closed-loop angular responses and compare with the initial settings.

step(T0,T,6)

legend('Baseline','Tuned','Location','SouthEast')

The results match those obtained in Parts 2 and 3. The tuned gain surfaces are also

similar.

clf

% NOTE: setBlockValue updates each gain surface with the tuned coefficients in T

11 Gain-Scheduled Controllers