Real-Time PID Autotuning

Real-time model-free tuning of PID gains using plant frequency responses

PID autotuning lets you tune a PID controller in real time against a physical plant. If you have a code-generation product such as Simulink^® Coder™, you can generate code that implements the tuning algorithm on hardware, letting you tune with or without Simulink in the loop. To get started, see How PID Autotuning Works.

Blocks

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Autotuning Blocks

Closed-Loop PID Autotuner	Automatically tune PID gains based on plant frequency responses estimated from closed-loop experiment in real time
Open-Loop PID Autotuner	Automatically tune PID gains based on plant frequency responses estimated from open-loop experiment in real time
Gain-Scheduled PID Autotuner	Automatically tune PID gains at multiple operating points (Since R2024a)

Gain Scheduling

Change Operating Points	Switch between operating points during simulation (Since R2023b)
PID Gain Scheduler	Lookup table based gain scheduling with PID array (Since R2023b)
PID Gains Store and Update	Store and update tuned PID gains tuned using Closed-Loop PID Autotuner (Since R2023b)

Topics

When to Use PID Autotuning
PID autotuning lets you tune a PID controller without a parametric plant model or an initial controller design. Deploy the algorithm to tune a controller in real time for a physical plant.
How PID Autotuning Works
To use PID autotuning, configure and deploy a PID autotuner block. The block injects test signals into your plant and tunes PID gains based on an estimated frequency response.
PID Autotuning for a Plant Modeled in Simulink
Use the PID autotuning algorithm to tune against a plant modeled in Simulink while the model is running.
PID Autotuning in Real Time
Deploy the PID autotuning algorithm as a standalone application for real-time tuning against your physical system.
Control Real-Time PID Autotuning in Simulink
Run the PID algorithm against your physical plant while controlling the tuning process in Simulink.
Tune PID Controller in Real Time Using Closed-Loop PID Autotuner Block
Tune a single-loop PID controller in real time by injecting sinusoidal perturbation signals at the plant input and measuring the plant output during a closed-loop experiment.
Tune PID Controller in Real Time Using Open-Loop PID Autotuner Block
Tune a single-loop PID controller in real time by injecting sinusoidal perturbation signals at the plant input and measuring the plant output during an open-loop experiment.

Featured Examples

BLDC Motor Speed Control with Cascade PI Controllers

Use Closed-Loop PID Autotuner blocks to tune two PI controllers in a cascade configuration.

Open Script

Tune Field-Oriented Controllers Using Closed-Loop PID Autotuner Block

Tune a field-oriented controller for a permanent magnet synchronous machine in one simulation.

Open Script

Tune Field-Oriented Controllers for an Asynchronous Machine Using Closed-Loop PID Autotuner Block

Tune a field-oriented controller for an asynchronous machine in one simulation.

Open Script

Tune Field-Oriented Controllers for a PMSM Using Closed-Loop PID Autotuner Block

Tune a field-oriented controller for a PMSM-based electrical-traction drive in one simulation.

Open Script

Design PID Controllers for Three-Phase Rectifier Using Closed-Loop PID Autotuner Block

Tune controllers for a Vienna-rectifier-based power factor corrector using the Closed-Loop PID Autotuner block.

Open Script

PID Autotuning for UAV Quadcopter

Tune attitude and position controllers for a UAV quadcopter in one simulation.

Open Live Script

Tune Gain-Scheduled Controller Using Closed-Loop PID Autotuner Block

Use Closed-Loop PID Autotuner block to tune gain-scheduled PID controller for a water-tank model in one simulation.

Open Live Script

Tune Gain-Scheduled Controller for PMSM Model Using Closed-Loop PID Autotuner Block

Use Closed-Loop PID Autotuner block to tune gain-scheduled PI controller for a PMSM model in one simulation.

Open Live Script

Driver Calibration using the Closed-Loop PID Autotuner

Automatically tune PID controller for a hybrid electric vehicle using Closed-Loop PID Autotuner.

Since R2023b
Open Live Script

Gain-Scheduled PID Autotuning a VTOL UAV During Forward and Backward Transition

Tune gain-scheduled PID controller for VTOL UAV transitioning between operating modes.

Since R2024a
Open Live Script

Gain-Scheduled PID Autotuning Torque Control for a Nonlinear PMSM

Tune gain-scheduled PID controllers for d-axis and q-axis current loops of a nonlinear PMSM model.

Since R2024a
Open Live Script