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Tuning of PIID controller

Asked by Yaser Arafat on 2 Mar 2018
Latest activity Answered by Arkadiy Turevskiy on 16 Aug 2018
when I am trying to tune PID controller, I am getting an error message below, The Simulink model abc could not be linearized because the blocks listed below have individual linearizations with A, B, C, or D matrices which are not finite. Either linearize at another operating point or remove the blocks. These blocks are:
abc/Subsystem

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M
on 7 Mar 2018
Is A/B definite ?
no these are uncertain e.g. Name: 'a' NominalValue: 5 Mode: 'PlusMinus' Range: [4 6] PlusMinus: [-1 1] Percentage: [-20 20] AutoSimplify: 'basic'

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1 Answer

Answer by Arkadiy Turevskiy on 16 Aug 2018

Hi there,
The way you are trying to model uncertainty in Simulink is not supported. If you define uncertain parameters in Robust Control Toolbox using ureal, you cannot parameterize Simulink blocks with them, as you are trying to do. before you even try tuning a PID controller, try running a simulation, and you will get an error message.
If you are trying to tune a controller that would perform robustly in the presence of uncertainty, please follow the approach explained in this example .

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