To set up your control system in MATLAB® for tuning with looptune:
Parameterize the tunable elements of your controller. You can use
predefined structures such as tunablePID, tunableGain, and tunableTF. Or, you can
create your own structure from elementary tunable parameters (realp).
Use model interconnection commands such as series and connect to build a tunable
genss model representing
the controller C0.
Create a Numeric LTI
model representing the plant G. For co-tuning
the plant and controller, represent the plant as a tunable genss model.
To set up your control system in Simulink® for tuning with systune (Simulink Control Design) (requires Simulink
Control Design™ software):
Use slTuner (Simulink Control Design) to create an
interface to the Simulink model of your control system. When you create the interface,
you specify which blocks to tune in your model.
Use addPoint (Simulink Control Design) to specify the
control and measurement signals that define the boundaries between plant and
controller. Use addOpening (Simulink Control Design) to mark
optional loop-opening or signal injection sites for specifying and assessing
open-loop requirements.
The slTuner interface automatically linearizes your Simulink model. The slTuner interface also automatically
parametrizes the blocks that you specify as tunable blocks. For more information
about this linearization, see the slTuner (Simulink Control Design) reference page and How Tuned Simulink Blocks Are Parameterized.