Simulink Control Design™ - MathWorks

Cannot Find a Good Design in PID Tuner ............... 7-210

How to Fix It................................... 7-210

Simulated Response Does Not Match PID Tuner Response 7-211

Cannot Find Acceptable PID Design in Simulated Model.. 7-213

How to Fix It................................... 7-213

Controller Performance Deteriorates When Switching Time

Domains ........................................ 7-215

How to Fix It................................... 7-215

When Tuning the PID Controller, the D Gain Has a Different

Sign from the I Gain.............................. 7-216

PID Autotuning

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When to Use PID Autotuning ........................... 8-2

PID Autotuning for a Physical Plant.................... 8-2

PID Autotuning for a Plant Model in Simulink............. 8-2

Closed-Loop vs. Open-Loop PID Autotuning.............. 8-3

When Not to Use PID Autotuning...................... 8-4

How PID Autotuning Works............................ 8-6

Autotuning Process ................................. 8-6

Workflow for PID Autotuning ......................... 8-7

PID Autotuning for a Plant Modeled in Simulink........... 8-9

Workflow for Autotuning in Simulink.................... 8-9

Step 1. Incorporate Autotuner into Model................ 8-9

Step 2. Configure Start/Stop Signal................... 8-11

Step 3. Specify Controller Parameters and Tuning Goals.... 8-12

Step 4. Set Experiment Parameters ................... 8-13

Step 5. Run Model and Initiate Tuning Experiment........ 8-13

Step 6. Stop Experiment and Examine Tuned Gains....... 8-14

Step 7. Update PID Controller with Tuned Gains.......... 8-14

PID Autotuning in Real Time .......................... 8-17

Workflow....................................... 8-17

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