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(a)
FIGURE 5.6 (See colour insert.) (a) Setting PID controller gain values in MATLAB.
(b) Interactive graphical user interface in MATLAB/Simulink for tuning PID controller.
and restricts the plant and controller to execute in unison. This constraint made it
imperative for our control system to be implemented across machines dedicated to
the plant and controller processes separately.
To ensure that the PID controller is configured optimally, its gain values must
be set correctly. Section 5.3 introduced the tuning process that is required before
any PID controller can be employed. We tuned our PID controller using the Robust
Response-Time Tuning Algorithm in MATLAB. Figures 5.6(a) and (b) illustrate the
graphical user interface for this PID controller tuner.
The MATLAB/Simulink ® PID controller block offers two key benefits for
controller design. First, it integrates with the control design toolbox to provide
closed-loop feedback analysis for linear systems. The resultant plots are very use-
ful for analysis of various-system related considerations such as stability, frequency
response, and step response. Second, along with the GUI shown in Figure 5.6, the
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