How can I use "Multi-Loop Control Systems" for a mutli-PID Control

Hello,

I am using the document "Tuning Multi-Loop Control Systems" to jointly tune the inner and outer loops of a cascade architecture.

The problem is, the Control loops in my system (inner and outer) are composed each of more than one PID (There are 6 PIDS, because my system has 6DOF). The example on Mathworks is configured for one PID in the inner loop, and one PID in the outer loop.

How can I configure the inner and outer Control.

Thank you.

Answer 1

[Arkadiy Turevskiy]

You are probably better of using Control System Tuner. Please take a look at this webinar and this example.