Simulink Control Design™ - MathWorks

looptune

Tune MIMO feedback loops in Simulink using slTuner interface

Syntax

[st,gam,info] = looptune(st0,controls,measurements,wc)

[st,gam,info] = looptune(st0,controls,measurements,wc,req1,...,reqN)

[st,gam,info] = looptune( ___ ,opt)

Description

[st,gam,info] = looptune(st0,controls,measurements,wc) tunes the free

parameters on page 15-424 of the control system of the Simulink model associated with

the slTuner interface, st0, to achieve the following goals:

• Bandwidth — Gain crossover for each loop falls in the frequency interval wc


• Performance — Integral action at frequencies below wc


• Robustness — Adequate stability margins and gain roll-off at frequencies above wc

controls and measurements specify the controller output signals and measurement

signals that are subject to the goals, respectively. st is the updated slTuner interface,

gam indicates the measure of success in satisfying the goals, and info gives details

regarding the optimization run.

Tuning is performed at the sample time specified by the Ts property of st0. For tuning

algorithm details, see “Algorithms” on page 15-425.

[st,gam,info] = looptune(st0,controls,measurements,wc,req1,...,reqN)

tunes the feedback loop to meet additional goals specified in one or more tuning goal

objects, req. Omit wc to drop the default loop shaping goal associated with wc. Note that

the stability margin goals remain in force.

[st,gam,info] = looptune( ___ ,opt) specifies further options, including target

gain and phase margins, number of runs, and computation options for the tuning

algorithm. Use looptuneOptions to create opt.

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