Control system tuner error message: Control system model does not contain any tunable parameter

I am facing a problem while tuning PI controller for a system. I am using CONTROL SYSTEM TUNER to tune the PI controller but i get the message "Control system model does not contain any tunable parameter". Please anyone help me to solve this problem. Along with this message I have attached the .mdl simulink file and a pdf file containing snapshots of the system i am trying to simulate and the error message Regards.......

Answer 1

[Arkadiy Turevskiy]

Did you select the PI Controller as the block to tune in Control System Tuner? In any case, Control System Tuner would have hard time with this model as the relay block linearizes to zero, and Control System Tuner needs a linear model to work with.

I recommend specifying that relay block should linearize to 1, and then using PID Tuner to tune PI gain.