tuning PID controller in simulink with actual hardware equipments

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Hello all,
I am working on a project in which i am using pid controllers to tune the gains. My system/controller is multiple input (2) and multiple output (2) type system. The controller is controlling the speed of two motors on an actual hardware. I am NOT wirting the transfer function of the plant/motor/system, I am directly using a feedback control loop by acquiring the data from the sensors/encoders, and sending the desired signal to the system/motors for corrective actions. I am using simulink for this purpose.
I just want to know the way of tuning the gains of my controllers by running it in an actual hardware, without writing the transfer function of the plant/system.


Sam Chak
Sam Chak 2022년 11월 4일
If the transfer function is unknown, and the system is relatively simple, perhap the model-free extremum-seeking-like approach can be used to tune the gains.
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Sam Chak
Sam Chak 2022년 11월 6일
If there is no coupling between the states or the coupling effect is relatively weak, then the tuning should work. Another popular PID tuning method is called the Relay method.
You can search and find many articles on the Relay-based PID Tuning method.

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