vrfttuneOptions

Create options for virtual reference feedback tuning

Since R2026a

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    Syntax

    opt = vrfttuneOptions(ControllerStructure)

    Description

    opt = vrfttuneOptions(ControllerStructure) returns an options object based on the controller structure for virtual reference feedback tuning.

    example

    Examples

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    Open Live Script

    Create option set for vrttune to specify the controller structure for tuning.

    By default, vrfttuneOptions returns options for parallel-form PID controller.

    options = vrfttuneOptions
    options = 
  ParallelPID with properties:

                 PIDType: 'PI'
        IntegratorMethod: 'ForwardEuler'
    DiscretizationMethod: 'tustin'

    To set the values of options, use dot notation.

    options.PIDType = "PID"
    options = 
  ParallelPID with properties:

                 PIDType: 'PID'
        IntegratorMethod: 'ForwardEuler'
    DiscretizationMethod: 'tustin'

    Similarly, you can create options for other controller structures such as FIR filter, LTI combination, and tunable LTI.

    options = vrfttuneOptions("fir-filter")
    options = 
  FIRFilter with properties:

             FilterOrder: 5
    DiscretizationMethod: 'tustin'


    options = vrfttuneOptions("lti-combination")
    options = 
  LTICombination with properties:

      LinearControlBasis: {2×1 cell}
    DiscretizationMethod: 'tustin'


    options = vrfttuneOptions("tunable-lti")
    options = 
  TunableLTI with properties:

       TunableController: [1×1 tunablePID]
     OptimizationOptions: [1×1 optim.options.Fmincon]
    DiscretizationMethod: 'tustin'

    Input Arguments

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    Controller structure, specified as a string scalar with one of the following values.

    • "parallel-pid" — Parallel-form PID controllers

      C(z,θ)=P+Iα(z)+D1Tsz−1zθ1=Pθ2=Iθ3=D

    • "fir-filter" — FIR filters

      C(z,θ)=b0+b1z+…+bnznθ1=b0,θ2=b1,...θn+1=bn

    • "lti-combination" — Linear combination of LTI systems

      C(z,θ)=θ1C1(z)+θ2C2(z)+…+θnCn(z)

    • "tunable-lti" — Tunable LTI objects such as tunableTF or tunablePID.

    Output Arguments

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    Option set, returned as one of the following objects.

    Options ObjectPropertiesValues
    vrfttune.options.ParallelPIDPIDType

    Specify the PID controller type.

    • "P"

    • "I"

    • "PI"

    • "PD"

    • "PID"

    IntegratorMethod

    Specify the PID integrator method α(z).

    • "ForwardEuler"

    • "BackwardEuler"

    • "Trapezoidal"

    DiscretizationMethod

    Specify the discretization method.

    • "tustin"

    • "zoh"

    • "foh"

    • "impulse"

    • "matched"

    • "least-squares"

    • "damped"

    vrfttune.options.FIRFilterFilterOrder

    Specify a positive integer between 2 and 10.

    DiscretizationMethod

    Specify the discretization method.

    • "tustin"

    • "zoh"

    • "foh"

    • "impulse"

    • "matched"

    • "least-squares"

    • "damped"

    vrfttune.options.LTICombinationLinearControlBasis

    Linear systems Ci(z) in the generic-form control structure, specified as a cell array of LTI objects (ss, tf, zpk) or an LTI model array.

    C(z,θ)=θ1C1(z)+θ2C2(z)+…+θnCn(z)

    Specify this parameter such that the value matches the form of the controller to tune. This can also represent a combination of linearly parameterized controllers. Here, the controller parameters θi are ordered corresponding to the index of LTI objects provided in the array. For example, the default value of this parameter represents a discrete-time parallel-form PID controller, with θ1 as the proportional gain and θ2 as the integral gain.

    DiscretizationMethod

    Specify the discretization method.

    • "tustin"

    • "zoh"

    • "foh"

    • "impulse"

    • "matched"

    • "least-squares"

    • "damped"

    vrfttune.options.TunableLTITunableController

    Specify a tunable LTI object. You can provide the following tunable LTI objects:

    • tunablePID

    • tunablePID2

    • tunableGain

    • tunableTF

    • tunableSS

    OptimizationOptionsSpecify fmincon options created using optimoptions.
    DiscretizationMethod

    Specify the discretization method.

    • "tustin"

    • "zoh"

    • "foh"

    • "impulse"

    • "matched"

    • "least-squares"

    • "damped"

    Version History

    Introduced in R2026a

    See Also

    Topics