Simulink Control Design™ - MathWorks

Figure 1: Current and Speed Controllers.

Note that the inner-loop (current) controller is a proportional gain while the outer-loop

(speed) controller has proportional and integral actions. The output of both controllers is

limited to plus/minus 5.

Design Specifications

We need to tune the proportional and integral gains to respond to a 2000 rpm speed

demand in about 0.1 seconds with minimum overshoot. The initial gain settings in the

model are P=50 and PI(s)=0.2+0.1/s and the corresponding response is shown in Figure

2. This response is too slow and too sensitive to load disturbances.

13 Control System Tuning Examples