Robust Control Toolbox

Tuning Gain-Scheduled Controllers

Gain scheduling is a linear technique for controlling nonlinear or time-varying plants. It involves computing linear approximations of the plant at various operating conditions, tuning controller gains at the operating condition, and scheduling controller gains as the plant changes operating conditions. Robust Control Toolbox provides tools for automatically computing gain schedules for fixed-structure control systems. You can:

  • Automatically trim and linearize Simulink models at multiple operating conditions (using Simulink Control Design)
  • Parameterize controller gain surfaces as functions of scheduling variables
  • Construct a closed-loop model representing the system throughout its operating range
  • Specify tuning requirements such as tracking and disturbance rejection
  • Automatically tune gain surface coefficients to satisfy tuning requirements at all operating conditions
  • Update parameters of Simulink blocks implementing the controller with tuned gain values
Smooth surfaces for scheduling four controller gains in a Simulink model of an autopilot.
Smooth surfaces (bottom) for scheduling four controller gains in a Simulink model of an autopilot (top) as functions of velocity (V) and angle of attack (alpha). These four surfaces were automatically tuned using a 9x5 grid of operating points.

Robust Control Toolbox eliminates the need to tune one controller at a time for each operating condition and instead provides globally tuned gain surfaces that generate smooth transitions from one operating condition to another.

Tuning of Gain-Scheduled Three-Loop Autopilot
Generate smooth gain schedules for a three-loop autopilot.

Next: Analyzing and Tuning Controllers in Simulink

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PID制御をSimulinkでより簡単に

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