[Simulink] tuning with Systune and saturation (anti-windup configuration) - possible?

Hi, I am currently working with a DC-Motor (first order behaviour) with saturation at the plant input. My task is to use systune for designing a PID Controller with anti-windup setup in order to control the motor angle. A close model for controlling the angle has the form: tf(K,[a 1 0]).

As systune uses a linearized version of the simulink model, a saturation block is ignored when creating an slTunable of the model. Therefore I can't create a loop for the integrator, the signal 'u-u(saturated)' will always be 0 and the anti-windup path can't be tuned by systune.

Is there any way or trick I can use in order to tune the anti-windup path with systune? Currently, the only possibility I see is to guess a good shape for the PID controller without saturation and adjust the anti-windup gain manually.

The PID-Block from simulink doesn't allow the tuning of the anti-windup gain.

Thank you for any ideas you might have :)

Answer 1

[Arkadiy Turevskiy]

systune would not be tuning anti-windup gain as well. systune, as you noted, works on linear time-invariant systems, so itwould only tune PID gains, not anything related to anti-windup.

If your system is a simple transfer function with a PID Controller, then you don't really need systune. You should just tune PID gains with the PID tuner with anti-windup turned off. Then turn anti-windup on, run the simulation and see how much the response changes. If needed, fine tune using sliders in PID Tuner.