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). The following options are additionally possible: * Set WCG=WRANGE, and the optimizer will look for a local extremal of dPhase/dw at WCG. * Set WRANGE = -1 and ONLY the WCG specification will be considered. This is useful when the bandwidth of the system has to be set precisely. 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

- fpid_optim FPID_OPTIM Fractional-order PID optimization tool.

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