When you tune a control system with systune, you specify tuning requirements such as reference tracking, maximum gain from specified inputs to specified outputs, or stability margins. You can designate tuning requirements as either soft constraints or hard constraints. systune tunes the free parameters of your control system to come as close as possible to satisfying the soft constraints, subject to satisfying the hard constraints.
Specify your tuning requirements using TuningGoal requirements objects. The following table summarizes the types of design requirements you can specify for systune.
|Design Requirement||Description||How To Specify|
|Time-domain response specification||Reference tracking and overshoot specification|
|Disturbance rejection||Disturbance rejection and sensitivity to disturbances|
|Stability margins||Gain and phase margins, defined as multi-loop disk margins for MIMO systems (see loopmargin)||TuningGoal.Margins|
|Custom Loop Shape||Constraints on the open-loop gain profile of a specified SISO or MIMO feedback loop||When desired loop shape near crossover is simple or well understood:|
|Other Gain Constraints||Limit on the maximum gain and the gain profile across specified I/Os, such as frequency-weighted peak gain limit or noise amplification limit.|
|Pole Placement||Constraints on location of tunable closed-loop system poles and controller poles|