Gain Scheduling
Tune gain-scheduled controllers for nonlinear plants
A gain-scheduled controller is a controller whose gains are
automatically adjusted as a function of time, operating condition,
or plant parameters. Gain scheduling is a common strategy for controlling
systems whose dynamics change with time or operating condition. Such
systems include linear parameter-varying (LPV) systems and large classes
of nonlinear systems. To tune gain-scheduled controllers in Simulink®, you
represent the variable gain as a function of the scheduling variables
using the tunableSurface
command. For an overview
of the workflow for tuning gain-scheduled controllers, see Gain Scheduling Basics.
Functions
Blocks
Topics
Gain-Scheduled Control Systems
- Gain Scheduling Basics
Gain scheduling is an approach to control of non-linear systems using a family of linear controllers, each providing satisfactory control for a different operating point of the system. - Model Gain-Scheduled Control Systems in Simulink
In Simulink, model gain schedules using lookup tables, interpolation blocks, or MATLAB Function blocks.
Tune Gain Schedules
- Tune Gain Schedules in Simulink
Understand the general tuning workflow for usingsystune
to tune gain-scheduled controllers. - Plant Models for Gain-Scheduled Controller Tuning
To tune a gain-scheduled control system, you need a collection of linear models describing the plant dynamics at the selected design points. - Multiple Design Points in slTuner Interface
For tuning a gain-scheduled control system, associate a family of linear plant models with theslTuner
interface to your Simulink model. - Parameterize Gain Schedules
A gain surface parameterizes a variable gain in terms of the scheduling variables. Use gain surfaces to model variable gains in a gain-scheduled control system. - Change Requirements with Operating Condition
When tuning gain-scheduled controllers, you can specify tuning objectives that depend on the scheduling variables. - Validate Gain-Scheduled Control Systems
Tuning gain-scheduled controllers guarantees suitable performance only near each design point. It is important to validate the tuning results over the full range of operating conditions.
Gain-Scheduled Autotuning
- 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) - 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)
HL-20 Autopilot Case Study
- Trimming and Linearization of the HL-20 Airframe
Linearize an airframe model at an array of design points to use for gain-scheduled control design. - Angular Rate Control in the HL-20 Autopilot
Tune gain-scheduled PI controllers for the inner loop of the HL-20 airframe model. - Attitude Control in the HL-20 Autopilot - SISO Design
Tune a gain-scheduled SISO architecture for controlling roll, pitch, and yaw of the airframe. - Attitude Control in the HL-20 Autopilot - MIMO Design
Tune a gain-scheduled MIMO architecture for controlling roll, pitch, and yaw of the airframe. - MATLAB Workflow for Tuning the HL-20 Autopilot
Design a gain-scheduled control system for the HL-20 airframe in MATLAB®.