Forward and feedback controllers in SISOtool.

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Mathias 2014-5-26

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评论： Arkadiy Turevskiy 2014-7-14

Hello.

I have two different controllers in a feedback loop which I'd like to keep seperated. My problem is that the architectures in SISOtool that support 2 controllers, I can't really "block algebra" my setup to look like those while still keeping the controllers seperated.

What I have is the following:

where C and F would be my controllers.

Any advise is really apprecieated.

Regards Mathias

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Arkadiy Turevskiy 2014-6-18

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Hi Mathias,

Unfortunately there is no way to do this now with SISO Tool. The only option is to tune C first using configuration 1, and use F using configuration 2.

Of course you could still tune them without SISO Tool too. Arkadiy

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Arkadiy Turevskiy 2014-6-19

编辑：Arkadiy Turevskiy 2014-6-19

Hi Mathias, You are correct. If you have access to Simulink, you can setup an arbitrary control architecture, and then tune it with what we now call Control System Designer (SISO Tool). For your configuration you will be able to edit both C and F (change magnitude, set poles and zeros), and see the impact of your interactive tuning on a step response of the system.

As for the second question: there is a tool called Control System Tuner (in Robust Control Toolbox) that lets you automatically tune arbitrary MIMO control architectures in Simulink. In your case you would specify C and F as blocks to tune, specify the system requirements (for example, reference tracking from r to y,as well as minimum stability margins), and let the tool tune both C and F automatically for you. When you create a block diagram in Simulink, you select what blocks to use for C and F (transfer function, state space, PID controller, etc), and the tool tunes block parameters while keeping the specified controller structure.

To learn more check out these videos 1 , 2 ,and read this blog post .

If this looks interesting, you can learn more by checking the doc.

In comparison to Control System Designer (SISO Tool), Control System Tuner can deal with arbitrary MIMO systems, and it tunes the gain automatically to meet specified requirements (as opposed to you basically doing loop shaping for a SISO system yourself in SISO Tool).

Feel free to ask further questions if interested.