Simulink Control Design™ - MathWorks

Dependencies

To enable this parameter, set Time Domain to discrete-time.

Programmatic Use

Block Parameter: DiscreteTs

Type: scalar

Value positive scalar | –1

Default: 0.1

Experiment sample time (sec) — Sample time for experiment

0.02 (default) | positive scalar

Even when you tune a continuous-time controller, you must specify a sample time for the

experiment performed by the block. In general, continuous-time controller tuning is not

recommended for PID autotuning against a physical plant. If you want to tune in

continuous time against a Simulink model of the plant, use a fast experiment sample time,

such as 0.02/ωc.

Dependencies

This parameter is enabled when the Time Domain is continuous-time.

Programmatic Use

Block Parameter: ContinuousTs

Type: positive scalar

Default: 0.02

Integrator method — Discrete integration formula for integrator term

Forward Euler (default) | Backward Euler | Trapezoidal

Specify the discrete integration formula for the integrator term in your controller. In

discrete time, the PID controller transfer function assumed by the block is:

C=P+FizI+

D

N+Fdz

,

in parallel form, or in ideal form,

C=P1+

Fiz

I

+

D

D/N+Fdz

.

For a controller sample time Ts, the Integrator method parameter determines the

formula Fi as follows:

16 Blocks — Alphabetical List