Model-Based Control - Real-Time Rendering: Computer Graphics with Control Engineering - page 78

•is controller is just to bring the output to a predefined level
to simulate initial condition.

-

P(z)

+

Sum

PID−S3

380

Constant

???

y

Manual Switch Plant

case: { }
In1

case [ 290 291 292 ... ]:
case [ 321 322 323 ... ]:
case [ 391 392 393 ... ]:

Out1

u1

PIDS1 u

y

To Workspace

To Workspace1

Switch Case

case: { }
In1

Out1

PIDS2

u

case: { }
In1

Out1

PIDS3

Note: Setting similar sample time for all blocks will avoid simulation errors.
Set sample time of switch−case block to 0 to match PID controller

FIGURE 5.8 Gain scheduling PID control system.