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tune gain-scheduled controllers for nonlinear plants

a gain-scheduled controller is a controller whose gains are automatically adjusted as a function of time, operating condition, or plant parameters. gain scheduling is a common strategy for controlling systems whose dynamics change with time or operating condition. such systems include linear parameter-varying (lpv) systems and large classes of nonlinear systems. to tune gain-scheduled controllers in simulink®, you represent the variable gain as a function of the scheduling variables using the tunablesurface command. for an overview of the workflow for tuning gain-scheduled controllers, see .

函数

create tunable gain surface for gain scheduling
polynomial basis functions for tunable gain surface
fourier basis functions for tunable gain surface
basis functions for tunable gain surface
visualize gain surface as a function of scheduling variables
evaluate gain surfaces at specific design points
get current values of tunable-surface coefficients
set values of tunable-surface coefficients
interface for control system tuning of simulink models
set sltuner interface options
tune control system parameters in simulink using sltuner interface
variable tuning goal for gain-scheduled controllers
evaluate variable tuning goal at specified design point

模块

butterworth filter with varying coefficients
notch filter with varying coefficients
连续时间或离散时间 pid 控制器
连续时间或离散时间二自由度 pid 控制器
transfer function with varying coefficients
state-space model with varying matrix values
observer-form state-space model with varying matrix values
discrete butterworth filter with varying coefficients
discrete-time notch filter with varying coefficients
离散时间或连续时间 pid 控制器
离散时间或连续时间二自由度 pid 控制器
discrete-time transfer function with varying coefficients
discrete-time state-space model with varying matrix values
discrete-time observer-form state-space model with varying matrix values

主题

gain-scheduled control systems


  • gain scheduling is an approach to control of non-linear systems using a family of linear controllers, each providing satisfactory control for a different operating point of the system.
  • model gain-scheduled control systems in simulink
    in simulink, model gain schedules using lookup tables, interpolation blocks, or matlab function blocks.

tune gain schedules


  • understand the general tuning workflow for using systune to tune gain-scheduled controllers.

  • to tune a gain-scheduled control system, you need a collection of linear models describing the plant dynamics at the selected design points.

  • for tuning a gain-scheduled control system, associate a family of linear plant models with the sltuner interface to your simulink model.

  • a gain surface parameterizes a variable gain in terms of the scheduling variables. use gain surfaces to model variable gains in a gain-scheduled control system.

  • when tuning gain-scheduled controllers, you can specify tuning objectives that depend on the scheduling variables.

  • tuning gain-scheduled controllers guarantees suitable performance only near each design point. it is important to validate the tuning results over the full range of operating conditions.

hl-20 autopilot case study


  • linearize an airframe model at an array of design points to use for gain-scheduled control design.

  • tune gain-scheduled pi controllers for the inner loop of the hl-20 airframe model.

  • tune a gain-scheduled siso architecture for controlling roll, pitch, and yaw of the airframe.

  • tune a gain-scheduled mimo architecture for controlling roll, pitch, and yaw of the airframe.

  • design a gain-scheduled control system for the hl-20 airframe in matlab®.
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