fpopt

FPOPT Creates a new fractional PID optimization parameter structure

 Usage: OPT = FPOPT(TYPE,P,PMAX,PMIN,METRIC,ALG,SP,MARGINS,SENS,ULIM,
                    WGT,GAINVAR,SIMTIME,CANCELZERO,STRICT,OPTOP)

 where:    
            TYPE       - optimization type, can be set to fix 'n' (none), 
                         'e' (exponents) or 'g' (gains) for fixing
                         exponents or gains
            P          - parameters to optimize: [Kp Ki Kd lam mu]
            PMAX       - maximum allowed values of P
            PMIN       - minimum allowed values of P
            METRIC     - fractional control system performance metric,
                         can be 'ise', 'iae', 'itse' or 'itae'
             ALG        - optimization algorithm, can be 'nelder-mead',
                          'interior-point', 'sqp' or 'active-set' - the
                         last three choices require the availability of
                         the Optimization toolbox
            SP         - set-point for optimization
            MARGINS    - gain and phase margin specifications in
                         form [GM, gmExact; PM, pmExact], GM in [dB],
                         PM in deg and gmExact and pmExact are boolean
                         values requiring exact specification to be
                         met (if set to true); otherwise optimization
                         will consider these parameters as minimum
                         requirements
            SENS        - sensitivity function specifications in form
                         [wt, A;   % frequency wt [rad/s] and A [dB]
                          ws, B]   % frequency ws [rad/s] and B [dB]
            ULIM        - control signal limits in form [UMIN; UMAX]
            WGT        - if nonempty, will be taken as the control law
                         weight in the optimization objective
                         function. If empty, the objective function
                         remains unchanged.
            GAINVAR    - robustness to gain variation settings in form
                         [WCG; WRANGE] (rad/s)
            SIMTIME    - simulation time step min/max and max
                         simulation time (seconds) in form [DTMIN;
                         DTMAX; MAXTIME]
             CANCELZERO - (true/false) enable zero cancelation for non-proper systems
            STRICT     - (true/false) strict specification requirement (including i.c.)
            OPTOP      - special options for optimization algorithm

 Note: call without arguments for default values. You may use []
       instead of parameters MARGIN, SENS and ULIM to optimize without regard
        to these specifications.

 See also: fpid_optimize, margin, csens