pid tunning of mimo system

hi guys!

I want to control my robot which has six actuators, but the outputs does not follow the consign.

here's my Shema bloc and the code

s = tf('s') ;p= 500*pi/1.5 ;
R=4 ;L=2.75E-6 ;K= 0.0274 ;J= 3.2284E-6 ;f= 3.5077E-6 ;
x=[1;1;1;1;1;1];
g=(p*K)/(2*pi*((R+L*s)*(f+J*s)+K^2));
H=double((jac_direct(x)))*g*1e-16;  %this is my plant

H.InputName = {'u1','u2','u3','u4','u5','u6'};
H.OutputName = 'y';
D = tunableGain('Decoupler',eye(6));
D.u = 'e';D.y = {'p1','p2','p3','p4','p5','p6'}; 
C1 = tunablePID('C1','pid');
C1.u = 'p1'; C1.y = 'u1';
C2 = tunablePID('C2','pid');
C2.u = 'p2'; C2.y = 'u2';
C3 = tunablePID('C3','pid');
C3.u = 'p3'; C3.y = 'u3';
C4 = tunablePID('C4','pid');
C4.u = 'p4'; C4.y = 'u4';
C5 = tunablePID('C5','pid');
C5.u = 'p5'; C5.y = 'u5';
C6 = tunablePID('C6','pid');
C6.u = 'p6'; C6.y = 'u6';
Sum = sumblk('e = r - y',6);

C0 = connect(C1,C2,C3,C4,C5,C6,D,Sum,{'r','y'},{'u1','u2','u3','u4','u5','u6'});
wc = 0.1;
TK=TuningGoal.Tracking('r','y',0.05);
OS = TuningGoal.Overshoot({'r'},{'y'},5);
[H,C,gam,info] = looptune(H,C0,wc,OS,TK);
T = connect(H,C,'r','y');

t=0:1/100:100;
U1 = 1*(t>=0);
U=[U1' U1' U1' U1' U1' U1'];
Sys=lsim(T,U,t);
figure,plot(Sys)

Answer 1

[Arkadiy Turevskiy]

Please contact tech support for help with troubleshooting. Your code does not run without jac_direct.