tunablePID2
Tunable twodegreeoffreedom PID controller
Syntax
blk = tunablePID2(name,type)
blk = tunablePID2(name,type,Ts)
blk = tunablePID2(name,sys)
Description
Model object for creating tunable twodegreeoffreedom PID controllers.
tunablePID2
lets you parametrize a tunable SISO twodegreeoffreedom
PID controller. You can use this parametrized controller for parameter studies or for
automatic tuning with tuning commands such as systune
,
looptune
, or the Robust Control Toolbox™ command hinfstruct
.
tunablePID2
is part of the family of parametric Control Design Blocks. Other parametric Control Design
Blocks include tunableGain
, tunableSS
, and tunableTF
.
Construction
creates the twodegreeoffreedom continuoustime PID controller described by the
equation:blk
= tunablePID2(name
,type
)
$$u={K}_{p}\left(bry\right)+\frac{{K}_{i}}{s}\left(ry\right)+\frac{{K}_{d}s}{1+{T}_{f}s}\left(cry\right).$$
r is the setpoint command, y is the measured response to that setpoint, and u is the control signal, as shown in the following illustration.
The tunable parameters of the block are:
Scalar gains
Kp
,Ki
, andKd
Filter time constant
Tf
Scalar weights
b
andc
The type
argument sets the controller type by fixing some of these
values to zero (see Input Arguments).
creates a discretetime PID controller with sample time blk
= tunablePID2(name
,type
,Ts
)Ts
. The equation
describing this controller is:
$$u={K}_{p}\left(bry\right)+{K}_{i}IF\left(z\right)\left(ry\right)+\frac{{K}_{d}}{{T}_{f}+DF\left(z\right)}\left(cry\right).$$
IF(z) and
DF(z) are the discrete integrator formulas for the
integral and derivative terms, respectively. The values of the IFormula
and
DFormula
properties set the discrete integrator formulas (see Properties).
uses the dynamic system model, blk
= tunablePID2(name
,sys
)sys
, to set the sample time,
Ts
, and the initial values of all the tunable parameters. The model
sys
must be compatible with the equation of a twodegreeoffreedom PID
controller.
Input Arguments

PID controller  

Controller type, specified as one of the values in the following table. Specifying a controller type fixes up to three of the PID controller parameters.
 

Sample time, specified as a scalar.  

Dynamic system model representing a twodegreeoffreedom PID controller. 
Properties

Parametrization of the PID gains The following fields of
 

Discrete integrator formulas IF(z) and DF(z) for the integral and derivative terms, respectively, specified as one of the values in the following table.
Default:  

Sample time. For continuoustime models, Changing this property does not discretize or resample the model. Default:  

Units for the time variable, the sample time
Changing this property has no effect on other properties, and
therefore changes the overall system behavior. Use Default:  

Input channel name, specified as a character vector or a 2by1
cell array of character vectors. Use this property to name the input
channels of the controller model. For example, assign the names C.InputName = {'setpoint';'measurement'}; Alternatively, use automatic vector expansion to assign both input names. For example: C.InputName = 'Cinput'; The input names automatically expand to You can use the shorthand notation Input channel names have several uses, including:
Default:  

Input channel units, specified as a 2by1 cell array of character
vectors. Use this property to track input signal units. For example,
assign the units C.InputUnit = {'Volts';'mol/m^3'};
Default:  

Input channel groups. This property is not needed for PID controller models. Default:  

Output channel name, specified as a character vector. Use this
property to name the output channel of the controller model. For example,
assign the name C.OutputName = 'control'; You can use the shorthand notation Input channel names have several uses, including:
Default: Empty character vector,  

Output channel units, specified as a character vector. Use this
property to track output signal units. For example, assign the unit C.OutputUnit = 'Volts';
Default: Empty character vector,  

Output channel groups. This property is not needed for PID controller models. Default:  

System name, specified as a character vector. For example, Default:  

Any text that you want to associate with the system, stored as a string or a cell array of
character vectors. The property stores whichever data type you
provide. For instance, if sys1.Notes = "sys1 has a string."; sys2.Notes = 'sys2 has a character vector.'; sys1.Notes sys2.Notes ans = "sys1 has a string." ans = 'sys2 has a character vector.' Default:  

Any type of data you want to associate with system, specified as any MATLAB^{®} data type. Default: 
Examples
Tunable TwoDegreeofFreedom Controller with a Fixed Parameter
Create a tunable twodegreeoffreedom PD controller. Then, initialize the parameter values, and fix the filter time constant.
blk = tunablePID2('pdblock','PD'); blk.b.Value = 1; blk.c.Value = 0.5; blk.Tf.Value = 0.01; blk.Tf.Free = false; blk
blk = Parametric continuoustime 2DOF PID controller "pdblock" with equation: s u = Kp (b*ry) + Kd  (c*ry) Tf*s+1 where r,y are the controller inputs and Kp, Kd, b, c are tunable gains. Type "showBlockValue(blk)" to see the current value and "get(blk)" to see all properties.
Controller Initialized by Dynamic System Model
Create a tunable twodegreeoffreedom PI controller. Use a twoinput, oneoutput
tf
model to initialize the parameters and
other properties.
s = tf('s'); Kp = 10; Ki = 0.1; b = 0.7; sys = [(b*Kp + Ki/s), (Kp  Ki/s)]; blk = tunablePID2('PI2dof',sys)
blk = Parametric continuoustime 2DOF PID controller "PI2dof" with equation: 1 u = Kp (b*ry) + Ki  (ry) s where r,y are the controller inputs and Kp, Ki, b are tunable gains. Type "showBlockValue(blk)" to see the current value and "get(blk)" to see all properties.
blk
takes initial parameter values from sys
.
If sys
is a discretetime system, blk
takes the
value of properties, such as Ts
and IFormula
, from
sys
.
Controller with Named Inputs and Output
Create a tunable PID controller, and assign names to the inputs and output.
blk = tunablePID2('pidblock','pid'); blk.InputName = {'reference','measurement'}; blk.OutputName = {'control'};
blk.InputName
is a cell array containing two names, because a
twodegreeoffreedom PID controller has two inputs.
Tips
You can modify the PID structure by fixing or freeing any of the parameters. For example,
blk.Tf.Free = false
fixesTf
to its current value.To convert a
tunablePID2
parametric model to a numeric (nontunable) model object, use model commands such astf
orss
. You can also usegetValue
to obtain the current value of a tunable model.
Version History
Introduced in R2016aSee Also
tunablePID
 tunableGain
 tunableTF
 tunableSS
 systune
 looptune
 genss
 hinfstruct
(Robust Control Toolbox)