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PID Tuner

Tune PID controllers

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Description

ThePID Tunerapp automatically tunes the gains of a PID controller for a SISO plant to achieve a balance between performance and robustness. You can specify the controller type, such as PI, PID with derivative filter, or two-degree-of-freedom (2-DOF) PID controllers. Analysis plots let you examine controller performance in time and frequency domains. You can interactively refine the performance of the controller to adjust loop bandwidth and phase margin, or to favor setpoint tracking or disturbance rejection.

You can usePID Tunerwith a plant represented by a numeric LTI model such as a transfer function (tf) or state-space (ss) model. If you have金宝app®Control Design™software, you can usePID Tunerto tune aPID ControllerorPID Controller (2DOF)在仿真软件模型。金宝app如果你有系统Identification Toolbox™ software, you can use the app to estimate a plant from measured or simulated data and design a controller for the estimated plant.

Interactive Tuning in the Live Editor

For interactive PID tuning in the Live Editor, see theTune PID ControllerLive Editor task. This task lets you interactively design a PID controller and automatically generates MATLAB®code for your live script.

PID Tuner app

Open the PID Tuner App

  • MATLAB Toolstrip: On theAppstab, underControl System Design and Analysis, click the app icon.

  • MATLAB command prompt: EnterpidTuner.

  • Simulink model: In thePID ControllerorPID Controller (2DOF)block dialog box, clickTune.

Examples

Parameters

ThePlantmenu displays the name of the current plant thatPID Tuneris using for controller design.

Change the current plant using the following menu options:

  • A list of the LTI models present in thePID TunerData Browser.

  • Import— Import a new LTI model from the MATLAB workspace.

  • 重新Linearize Closed Loop— Linearize the plant at a different snapshot time. SeeTune at a Different Operating Point(Simulink Control Design). This option is available only when tuning aPID ControllerorPID Controller (2DOF)在仿真软件模型。金宝app

  • Identify New Plant— Use system identification to obtain a plant from measured or simulated system response data (requires System Identification Toolbox software). See:

If you are tuning a PID controller for a plant represented by an LTI model, the default plant is:

  • Plant= 1, if you openedPID Tunerfrom theAppstab in the MATLAB Toolstrip, or if you used thepidTunercommand without an input argument.

  • The plant you specified as an input argument topidTuner.

If you are tuning aPID ControllerorPID Controller (2DOF)block in a Simulink model, then the default plant is linearized at the operating point specified by the model initial conditions. SeeWhat Plant Does PID Tuner See?(Simulink Control Design)

The controller type specifies which terms are present in the PID controller. For instance, a PI controller has a proportional and an integral term. A PDF controller has a proportional term and a filtered derivative term.

  • If you are tuning a controller for a plant represented by an LTI model, use theTypemenu to specify controller type. When you change controller type,PID Tunerautomatically designs a new controller. Available controller types include 2-DOF PID controllers for more flexibility in the trade-off between disturbance rejection and reference tracking. For details on available controller types, seePID Controller Types for Tuning.

  • If you are tuning aPID ControllerorPID Controller (2DOF)block in a Simulink model, theTypefield displays the controller type specified in the block dialog box.

This field displays the controller form.

  • If you are tuning a controller for a plant represented by an LTI model, use theFormmenu to specify controller form. For information about parallel and standard forms, see thepidandpidstdreference pages.

  • If you are tuning aPID ControllerorPID Controller (2DOF)block in a Simulink model, theFormfield displays the controller form specified in the block dialog box.

TheDomainmenu enables you to switch the domain in which PID Tuner displays the target performance parameters.

  • Time— Sliders set theResponse TimeandTransient Behavior.

  • Frequency— Sliders set theBandwidthandPhase Margin.

To refine the controller design, you adjust the target performance parameters using the sliders or the corresponding numeric values.

For more information, see:

Create time-domain and frequency-domain analysis plots to help analyze the performance of the PID controller. For detailed information about the available response plots, see:

Programmatic Use

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Tips

  • For PID tuning at the command line, usepidtune. Thepidtunecommand can design a controller for multiple plants at once.

  • For interactive PID tuning in the Live Editor, see theTune PID ControllerLive Editor task. This task lets you interactively design a PID controller and automatically generates MATLAB code for your live script.

Version History

Introduced in R2010b

See Also

Functions

Live Editor Tasks