Before you can use PID Tuner, you must:
Create a Simulink® model containing a PID Controller or PID Controller (2DOF) block. Your model can have one or more PID blocks, but you can only tune one PID block at a time.
If you are tuning a multi-loop control system with coupling between the loops, consider using other Simulink Control Design™ tools instead of PID Tuner. See Control System Designer and Cascaded Multi-Loop/Multi-Compensator Feedback Design for more information.
The PID Controller blocks support vector signals. However, using PID Tuner requires scalar signals at the block inputs. That is, the PID block must represent a single PID controller.
Your plant (all blocks in the control loop other than the controller) can be linear or nonlinear. The plant can also be of any order, and have any time delays.
Configure the PID block settings, such as controller type, controller form, time domain, sample time. See the PID Controller or PID Controller (2DOF) block reference pages for more information about configuring these settings.
To open PID Tuner and view the initial compensator design:
Open the Simulink model by typing the model name at the MATLAB® command prompt.
Double-click the PID Controller block to open the block dialog box.
In the block dialog box, click Tune to launch PID Tuner.
When you open PID Tuner, the following actions occur:
PID Tuner automatically linearizes the plant at the operating point specified by the model initial conditions, as described in What Plant Does PID Tuner See?. If you want to design a controller for a different operating point, see Tune at a Different Operating Point.
Note: If the plant model in the PID loop linearizes to zero, PID Tuner provides the Obtain plant model dialog box. This dialog box allows you to obtain a new plant model by either:
PID Tuner computes an initial compensator design for the linearized plant model using the algorithm described in PID Tuning Algorithm.
PID Tuner displays the closed-loop step reference tracking response for the initial compensator design. For comparison, the display also includes the closed-loop response for the gains specified in the PID Controller block, if that closed loop is stable, as shown in the following figure.
Tip After the tuner opens, you can close the PID Controller block dialog box.