调整-Goal Scalar Values

调整软件将每个调整目标转换为标准化标量值，然后将其限制（硬目标）或最小化（软目标）。让f_i(x） 和g_j(x) denote the scalar values of the soft and hard goals, respectively. Here,xis the vector of tunable parameters in the control system to tune. The tuning algorithm solves the minimization problem:

Minimize $$\underset{i}{\mathrm{最大限度}}{f}_i\left(x\right)$$subject to $$\underset{j}{\mathrm{最大限度}}{g}_j\left(x\right)<1$$, for $$x_{\min }<x<x_{\mathrm{最大限度}}$$。

x_min和x_最大限度are the minimum and maximum values of the free parameters of the control system. (For information about the specific functions used to evaluate each type of requirement, see the reference pages for each tuning goal.)

当您同时使用软调整目标时，该软件将优化求解为表单的一个子问题的顺序：

这software adjusts the multiplierα所以,子问题的解是收敛的to the solution of the original constrained optimization problem.

这tuning software reports the final scalar values for each tuning goal. When the final value off_i(x） 或者g_j(x) is less than 1, the corresponding tuning goal is satisfied. Values greater than 1 indicate that the tuning goal is not satisfied for at least some conditions. For instance, a tuning goal that describes a frequency-domain constraint might be satisfied at some frequencies and not at others. The closer the value is to 1, the closer the tuning goal is to being satisfied. Thus these values give you an overview of how successfully the tuned system meets your requirements.

这form in which the software presents the optimized tuning-goal values depends on whether you are tuning withControl System Tuner或在命令行。

调整Results at the Command Line

这systunecommand returns the control system model orslTunerinterface with the tuned parameter values.systunealso returns the best achieved values of eachf_i(x） 和g_j(x）作为矢量值输出参数fSoft和gHard， 分别。看到systune参考页面以获取更多信息。（要自行获得最终的调整目标值evalGoal）

默认，systunedisplays the best achieved final values of the tuning goals in the command window. For instance, in the examplePID Tuning for Setpoint Tracking vs. Disturbance Rejection,systune被称为一个软要求R1, and two hard requirementsR2和R3。

T1 = systune(T0,R1,[R2 R3]);

最终：软= 1.12，硬= 0.99988，迭代= 143

This display indicates that the largest optimized value of the hard tuning goals is less than 1, so both hard goals are satisfied. The soft goal value is slightly greater than one, indicating that the soft goal is nearly satisfied. You can use tuning-goal plots to see in what regimes and by how much the tuning goals are violated. (SeeVisualize Tuning Goals）

You can obtain additional information about the optimization progress and values using theinfooutput ofsystune。制作systune在调整过程中显示其他信息，使用systuneOptions。

调整Results inControl System Tuner

在Control System Tuner，当您点击，该应用程序编译了调整报告，总结了最佳的价值f_i(x） 和g_j(x). To view the tuning report immediately after tuning a control system, click调整报告at the bottom-right corner ofControl System Tuner。

调整报告将显示决赛f_i(x） 和g_j(x）算法获得的值。

这艰难的目标area shows the minimizedg_i(x）值并指示满足的值。这Soft Goalsarea highlights the largest of the minimizedf_i(x) values as最糟糕的价值并列出所有要求的值。在此示例中，艰难的目标是满足的，而软目标几乎得到满足。与命令行情况一样，您可以使用调谐目标图来查看违反多少调谐目标。（看Visualize Tuning Goals）

改善调整结果

如果调整结果无法充分满足您的设计要求，请调整您的调整目标以改善结果。例如：

如果调整结果确实满足您的设计要求，则可以验证调谐控制系统Validate Tuned Control System。