Simulink Control Design™ - MathWorks

C1 =

s

Kp + Kd * --------

Tf*s+1

with Kp = 5.9, Kd = 1.9, Tf = 0.051

Name: Position_Controller

Continuous-time PDF controller in parallel form.

C2 = zpk(getBlockValue(ST,'Angle Controller'))

C2 =

-1622.5 (s+12.98) (s+4.295)

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

(s+135.3) (s-14.47)

Name: Angle_Controller

Continuous-time zero/pole/gain model.

Note that the angle controller has an unstable pole that pairs up with the plant unstable

pole to stabilize the inverted pendulum. To see this, get the open-loop transfer at the

plant input and plot the root locus.

L = getLoopTransfer(ST,'F',-1);

figure;

rlocus(L)

set(gca,'XLim',[-25 20],'YLim',[-20 20])

13 Control System Tuning Examples