Simulink Control Design™ - MathWorks

input specifies that the crossover frequency of each loop in the tuned system fall between

0.1 and 1 rad/min.

wc = [0.1,1];

[G,C,gam,Info] = looptune(G,C0,wc);

Final: Peak gain = 0.973, Iterations = 19

Achieved target gain value TargetGain=1.

The displayed Peak Gain = 0.949 indicates that looptune has found parameter

values that achieve the target loop bandwidth. looptune displays the final peak gain

value of the optimization run, which is also the output gam. If gam is less than 1, all tuning

requirements are satisfied. A value greater than 1 indicates failure to meet some

requirement. If gam exceeds 1, you can increase the target bandwidth range or relax

another tuning requirement.

looptune also returns the tuned controller model C. This model is the tuned version of

C0. It contains the PI coefficients and the decoupling matrix gain values that yield the

optimized peak gain value.

Display the tuned controller parameters.

showTunable(C)

Decoupler =

D =

u1 u2

y1 2.139 -1.303

y2 -1.584 1.295

Name: Decoupler

Static gain.

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

PI_L =

1

Kp + Ki * ---

s

with Kp = 1.5, Ki = 0.0431

Name: PI_L

Continuous-time PI controller in parallel form.

12 Loop-Shaping Design