Design PI regulator with constrictions

Hi, I needed to know if anyone knows how to carry out the next design of a PI C(s) regulator using the rltool or similar tool. I explain below what what I need to do.

• Start from a step input that can vary in a range of +-20.
• The output of the controller can only be within the range of +-2.
• The output of the regulator can only be between values of +-2.
• An over-shoot of less than 5% must be present at any time and the settling time must be less than 1s but never less than 0.5s.

The main problem I have is that I don't see a way to implement Simulink's saturation block in the rltool options... or if someone knew how to link the variables so that what I calculate in rltool would be reflected in the transfer function of Simulink's controller would also be of great help to me.

Thank you very much for everything.

[Mathieu NOE]

hi

A rrot locus analysis assumes that the entire loop is a LTI system.. you cannot include non linear elements like a saturation block.

If I were you, i would run first the rltool without taking into account the saturation block , and then refine if necessary your PID with the saturation block in the loop. there are also time domain optimisation techniques available that take the linear and non linear terms into the optimisation loop. there is a GA optimisation tool for PID

https://www.mathworks.com/matlabcentral/fileexchange/14656-differential-steering-control-by-single-genetic-pid

[Alejandro Fernández]

Ok! Thank you for all you help :D