Simulink Control Design™ - MathWorks

might want to specify different crossover frequencies for each loop. Or, you might want to

enforce the tuning requirements, req1 and req2, as hard constraints, and add other

requirements as soft requirements.

Convert the looptune input arguments to a set of input arguments for systune.

[st0,SoftReqs,HardReqs,sysopt] = looptuneSetup(st0,controls,measurement,wc,req1,req2);

This command returns a set of arguments you can feed to systune for equivalent results

to tuning with looptune. In other words, the following command is equivalent to the

looptune command.

[st,fsoft,ghard,info] = systune(st0,SoftReqs,HardReqs,sysopt);

Final: Peak gain = 1.03, Iterations = 81

Examine the tuning requirements returned by looptuneSetup. When tuning this control

system with looptune, all requirements are treated as soft requirements. Therefore,

HardReqs is empty. SoftReqs is an array of TuningGoal requirements. These

requirements together enforce the bandwidth and margins of the looptune command,

plus the additional requirements that you specified.

SoftReqs

SoftReqs =

5x1 heterogeneous SystemLevel (LoopShape, Tracking, Gain, ...) array with properties:

Models

Openings

Name

For example, examine the first entry in SoftReqs.

SoftReqs(1)

ans =

LoopShape with properties:

LoopGain: [1x1 zpk]

CrossTol: 0.3495

15 Alphabetical List