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Why I can't tune/design PID for a vehicle modelled with simscape?

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Sajad  A.Anbaran
Sajad A.Anbaran on 18 Jun 2019
Commented: Sajad A.Anbaran on 23 Oct 2019
Hi all,
the model is a conventional car with multi-speed transmissoin. It is build using simscape and the control objective is 'reference tracking' of input drive cycle.
For more than a year, I have been trying methods and solutions offered in MATLAB documentation. But It has been fruitless so far and I can't get a good result from simulatoin.
The model and a written report of my work is attached to this inquiry, Please have a look. Thank you, in advance.
Looking forward to hearing from you.

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Sajad  A.Anbaran
Sajad A.Anbaran on 23 Oct 2019
I finally managed to do it.
The key is model fidelity and accuracy. Make sure your simscape model is accurate enough. Then, perform an open-loop test. use the system output figure to identify the time at which you should linearize your model; look for segments of output figure where model demonstrates linear behaviour. Lineanized it at that 't' and use it to tune PI controller.

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