## Control System Designer Tuning Methods

Using Control System Designer, you can tune compensators using various graphical and automated tuning methods.

### Graphical Tuning Methods

Use graphical tuning methods to interactively add, modify, and remove controller poles, zeros, and gains.

Tuning MethodDescriptionUseful For
Bode EditorTune your compensator to achieve a specific open-loop frequency response (loop shaping).Adjusting open-loop bandwidth and designing to gain and phase margin specifications.
Closed-Loop Bode EditorTune your prefilter to improve closed-loop system response.Improving reference tracking, input disturbance rejection, and noise rejection.
Root Locus EditorTune your compensator to produce closed-loop pole locations that satisfy your design specifications.Designing to time-domain design specifications, such as maximum overshoot and settling time.
Nichols EditorTune your compensator to achieve a specific open-loop response (loop shaping), combining gain and phase information on a Nichols plot.Adjusting open-loop bandwidth and designing to gain and phase margin specifications.

When using graphical tuning, you can modify the compensator either directly from the editor plots or using the compensator editor. A common design approach is to roughly tune your compensator using the editor plots, and then use the compensator editor to fine-tune the compensator parameters. For more information, see Edit Compensator Dynamics

The graphical tuning methods are not mutually exclusive. For example, you can tune your compensator using both the Bode editor and root locus editor simultaneously. This option is useful when designing to both time-domain and frequency-domain specifications.

For examples of graphical tuning, see the following:

### Automated Tuning Methods

Use automated tuning methods to automatically tune compensators based on your design specifications.

Tuning MethodDescriptionRequirements and Limitations
PID Tuning

Automatically tune PID gains to balance performance and robustness or tune controllers using classical PID tuning formulas.

Classical PID tuning formulas require a stable or integrating effective plant.

Optimization Based Tuning

Optimize compensator parameters using design requirements specified in graphical tuning and analysis plots.

Tunes the parameters of a previously defined controller structure.

LQG Synthesis

Design a full-order stabilizing feedback controller as a linear-quadratic-Gaussian (LQG) tracker.

Maximum controller order depends on the effective plant dynamics.

Loop Shaping

Find a full-order stabilizing feedback controller with a specified open-loop bandwidth or shape.

Requires Robust Control Toolbox™ software.

Maximum controller order depends on the effective plant dynamics.

Internal Model Control (IMC) Tuning

Obtain a full-order stabilizing feedback controller using the IMC design method.

Assumes that your control system uses an IMC architecture that contains a predictive model of your plant dynamics.

Maximum controller order depends on the effective plant dynamics.

A common design approach is to generate an initial compensator using PID tuning, LQG synthesis, loop shaping, or IMC tuning. You can then improve the compensator performance using either optimization-based tuning or graphical tuning.

For more information on automated tuning methods, see Design Compensator Using Automated Tuning Methods.

### Effective Plant for Tuning

An effective plant is the system controlled by a compensator that contains all elements of the open loop in your model other than the compensator you are tuning. The following diagrams show examples of effective plants:

Knowing the properties of the effective plant seen by your compensator can help you understand which tuning methods work for your system. For example, some automated tuning methods apply only to compensators whose open loops ($L=C\stackrel{\wedge }{P}$) have stable effective plants ($\stackrel{\wedge }{P}$). Also, for tuning methods such as IMC and loop shaping, the maximum controller order depends on the dynamics of the effective plant.

### Select a Tuning Method

To select a tuning method, in Control System Designer, click Tuning Methods.