|On this page…|
Use the PID Tuner to interactively design a SISO PID controller in the feed-forward path of single-loop, unity-feedback control configuration.
The PID Tuner automatically designs a controller for your plant. You specify the controller type (P, I, PI, PD, PDF, PID, PIDF) and form (parallel or standard). You can analyze the design using a variety of response plots, and interactively adjust the design to meet your performance requirements.
To launch the PID Tuner, use the pidtool command:
where sys is a linear model of the plant you want to control, and type is a string indicating the controller type to design.
where Cbase is a baseline controller, allowing you to compare the performance of the designed controller to the performance of Cbase.
For more information about sys and Cbase, see the pidtool reference page.
The PID Tuner can tune up to seven types of controllers. To select the controller type, use one of these methods:
Provide the type argument to the launch command pidtool.
Provide a baseline controller Cbase to the launch command pidtool. The PID Tuner designs a controller of the same type as Cbase.
Use the Type menu to change controller types after launching the PID Tuner.
|type input to pidtool||Entry in Type menu||Controller Type||Continuous-time Controller Formula (parallel form)||Discrete-time Controller Formula (parallel form, ForwardEuler integrator formulas)|
|'pi'||PI||Proportional and integral|
|'pd'||PD||Proportional and derivative|
|'pdf'||Proportional and derivative with first-order filter on derivative term|
|'pid'||PID||Proportional, integral, and derivative|
|'pidf'||PIDF||Proportional, integral, and derivative with first-order filter on derivative term|
If sys is a discrete-time model with sampling time Ts, the PID Tuner designs a discrete-time pid controller using the ForwardEuler discrete integrator formula. To design a controller that has different discrete integrator formulas, use one of the following methods:
Provide a discrete-time baseline controller Cbase to the launch command pidtool. The PID Tuner designs a controller that has the same discrete integrator formulas as Cbase.
After launching the PID Tuner, click Options to open the Controller Options dialog box. Select discrete integrator formulas from the Integral Formula and Derivative Formula menus.
When you use the type input to launch the PID Tuner, the PID Tuner designs a controller in parallel form. To design a controller in standard form, use one of the following methods:
Provide a standard-form baseline controller Cbase to the launch command pidtool. The PID Tuner designs a controller of the same form as Cbase.
Use the Form menu to change controller form after launching the PID Tuner.