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Gain Scheduling

Tuning of 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 MATLAB® or 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 Tune Gain-Scheduled Controllers.


tunableSurface Create tunable gain surface for gain scheduling
polyBasis Polynomial basis functions for tunable gain surface
fourierBasis Fourier basis functions for tunable gain surface
ndBasis Basis functions for tunable gain surface
viewSurf Visualize gain surface as a function of scheduling variables
evalSurf Evaluate gain surfaces at specific design points
getData Get current values of tunable-surface coefficients
setData Set values of tunable-surface coefficients
systune Tune fixed-structure control systems modeled in MATLAB
slTuner Interface for control system tuning of Simulink models
systune (slTuner) Tune control system parameters in Simulink using slTuner interface

Examples and How To

Tune Gain-Scheduled Controllers

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

Tunable Gain With Two Independent Scheduling Variables

Model a scalar gain that has a bilinear dependence on two scheduling variables.

Set Up Simulink Models for Gain Scheduling

To tune a gain-scheduled control system in Simulink, model the scheduled gains using Lookup Table or Interpolation blocks.

Gain-Scheduled Control of a Chemical Reactor

This example shows how to tune a gain-scheduled controller for a chemical reactor transitioning from low to high conversion rate.

Tuning of Gain-Scheduled Three-Loop Autopilot

This example uses systune to generate smooth gain-schedules for a two-dimensional grid of operating conditions for a control system modeled in Simulink.


Gain-Scheduled Control Systems

Gain scheduling is a strategy for controlling systems whose dynamics change as a function of time, operating condition, or plant parameters.

Plant Models for Gain-Scheduled Control

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

Parametric Gain Surfaces

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.

Validating Gain-Scheduled Controllers

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.

Changing Requirements with Operating Condition

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

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