How can I tune my nonlinear model with Control System Tuner?

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I have modeled a quadcopter with simMechanics and simscape and manually tuned the PI-, PD-controllers.
This is the original quadcopter:
I got this response, for step changes in z, phi, theta and psi:
I tried to tune the controllers with the Control System Tuner but it didn't work. I think the problem is linearizing the plant correctly.
My question: How can I tune this structure with the Control System Tuner?

Answers (1)

Steve Miller
Steve Miller on 20 Nov 2022
I opened your project and was able to get select blocks and set goals with the Control System Tuner. Be careful, the files you uploaded are missing a block from a library. You can add the Translational Multibody Interface block from Simscape to replace the bad library link.
This example walks through the steps on a model that looks very similar to the one you uploaded.

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