This example shows how to tune a lead-lag regulator for a simplified hydraulic piston. The piston model is given by:
PlantModel = zpk(10,[0,0,-10],-1);
An initial controller design using the Control System Toolbox yields a controller:
Controller = zpk(-0.15, -3.5, 0.15);
After loading the model and pre-configured SISO Design Task, you can design a new controller using Response Optimization.
Requires Control System Toolbox™.
Opening the model and SISO Design Task
Open the model and pre-configured SISO Design Task using the command
The goal of the design is to fine tune the designed regulator to better reject disturbances. The controller must satisfy the following requirements:
The closed-loop peak gain must be less than 1db; this ensures good regulation with minimum overshoot.
The output (y) resulting from a unit step output disturbance (dy) must be reduced by 99% within 10 seconds and no more than a 20% overshoot is allowed.
These design requirements have been added to the SISO Design Tool and the LTI Viewer. To complete the design, using response optimization, click the Start Optimization button within the Response Optimization node in the Control and Estimation Tools Manager.