Simulink Control Design™ - MathWorks

(^1) Provide good tracking performance in mu, alpha, and beta in nominal operating mode
with adequate decoupling of the three axes
(^2) Maintain performance in the presence of wind gust of 10 mph
(^3) Limit stability and performance degradation in the face of actuator outage.
To express the first requirement, you can use an LQG-like cost function that penalizes the
integrated tracking error e and the control effort u:
The diagonal weights and are the main tuning knobs for trading responsiveness
and control effort and emphasizing some channels over others. Use the
WeightedVariance requirement to express this cost function, and relax the
performance weight by a factor 2 for the outage scenarios.
We = diag([10 20 15]); Wu = eye(3);
% Nominal tracking requirement
SoftNom = TuningGoal.WeightedVariance('setpoint',{'e','u'}, blkdiag(We,Wu), []);
SoftNom.Models = 1; % nominal model
% Tracking requirement for outage conditions
SoftOut = TuningGoal.WeightedVariance('setpoint',{'e','u'}, blkdiag(We/2,Wu), []);
SoftOut.Models = 2:9; % outage scenarios
For wind gust alleviation, limit the variance of the error signal e due to the white noise wg
driving the wind gust model. Again use a less stringent requirement for the outage
scenarios.
% Nominal gust alleviation requirement
HardNom = TuningGoal.Variance('wg','e',0.02);
HardNom.Models = 1;
% Gust alleviation requirement for outage conditions
HardOut = TuningGoal.Variance('wg','e',0.1);
HardOut.Models = 2:9;
Controller Tuning for Nominal Flight
Set the wind gust speed to 10 mph and initialize the tunable state-feedback and
integrators gains of the controller.
13 Control System Tuning Examples