NGMV Control Toolbox

Writing a Master Script

At this point it is best to write a master script that will perform the controller synthesis and run the simulations. Open the template file “ngmvtmpl” that runs a simple example and shows a comparison between PID and NGMV controllers. Run the script choosing “no algebraic loop solution” (option 1). If everything works correctly, you should obtain the following plot:

Now modify the script, tailoring it to our engine speed control example. Here are a few guidelines:

• The controller is a triggered subsystem and hence the sample time must be set to Ts = -1
• There is no explicit delay in the system; values of k = 0 and k = 1 may be tried.
• Set the plant and disturbance linear models to unity
• Model the reference signal as an integrator (corresponding to set-point step changes)
• Simulations can be run using the following commands:

  nref = [0 2000; 5 3000; 11 5000; 15 4000];

  stop_time = 10;

  sim('enginewc_ngmv',stop_time)

  simdata={Nsp,N,TA};

where nref defines the speed reference as a two-column matrix [time, values].

Plot the results using simplots command and compare with PI performance.

NGMV Controller Synthesis

Tuning the NGMV Dynamic Weightings