Measurement = 'Measured Position'; % controller input
Control = 'Leadlag'; % controller output
ST1 = looptune(ST0,Control,Measurement,5);
Final: Peak gain = 0.949, Iterations = 26
Achieved target gain value TargetGain=1.
A final value below or near 1 indicates success. Inspect the tuned values of the gain and
lead/lag filter:
showTunable(ST1)
Block 1: rct_dmc/Tunable Digital Controller/Gain =
D =
u1
y1 1.538e-05
Name: Gain
Static gain.
Block 2: rct_dmc/Tunable Digital Controller/Leadlag =
5.133 s + 8.256
s + 14.91
Name: Leadlag
Continuous-time transfer function.
Design Validation
To validate the design, use the slTuner interface to quickly access the closed-loop
transfer functions of interest and compare the responses before and after tuning.
T0 = getIOTransfer(ST0,'Reference','Measured Position');
T1 = getIOTransfer(ST1,'Reference','Measured Position');
step(T0,T1), grid
legend('Original','Tuned')
Tuning of a Digital Motion Control System