matlab-control-optimization

MATLAB Control Optimization

Use this skill for control design and optimization workflows.

Workflow

1. Define plant model, units, sample time, constraints, and performance goals.
2. Confirm required products: Control System Toolbox, System Identification Toolbox, Optimization Toolbox, Robust Control Toolbox, or MPC Toolbox.
3. Build an executable baseline model.
4. Tune or optimize with explicit objective and constraints.
5. Validate time-domain, frequency-domain, and robustness behavior when applicable.
6. Save plots, tuned parameters, and numerical metrics.

Preferred APIs

• tf, ss, zpk, c2d, d2c
• step, lsim, bode, margin, bandwidth
• pidtune, systune, hinfsyn, musyn when licensed
• iddata, tfest, ssest, compare
• optimproblem, fmincon, lsqnonlin, ga, particleswarm

Validation Metrics

Use checks such as:

• Rise time, settling time, overshoot.
• Gain margin, phase margin, bandwidth.
• Constraint violation count.
• Objective value and solver exit flag.
• Identification fit percentage on held-out data.

Risk Checklist

Watch for:

• Continuous/discrete sample-time mismatch.
• Unscaled optimization variables.
• Local minima and solver sensitivity.
• Hidden actuator saturation.
• Controller instability outside nominal operating points.

Margins Belong To Crossings, Not To Loops

r = mas_ctrl_analyze(L);            % L = tf/ss/zpk; r.crossings has EVERY crossing
r.pmWorst, r.gmWorst, r.verdict     % worst over all of them, and a verdict
r = mas_ctrl_pid_design(P, struct('pmTarget',50,'gmTarget',6));
r = mas_ctrl_aw_sim(P, cfg, opts);  % saturation + 'none'|'clamp'|'backcalc'

margin(L) returns one number. A loop with a resonance crosses 0 dB twice, and the first crossing can read +83 deg while the second reads -95 deg -- measured, see the C3 case. A margin report that keeps the first crossing calls that loop healthy and the closed loop oscillates. mas_ctrl_analyze reports every crossing, takes the worst, and returns UNSTABLE when a crossing has a negative margin even if all poles are in the LHP.