Nonlinear Control Design Blockset

Repeated Parameter Problems

Repeated parameter problems involve designing controllers (performing system identification) where some of the control parameters to be designed (system parameters to be identified) appear more than once in the control structure (system model). They are notoriously difficult to solve unless they can somehow be transformed/reduced into a problem without repeated parameters. In the figure below, the tunable parameter K appears twice in the control structure.

The Nonlinear Control Design Blockset can solve repeated parameter problems without any special treatment. Simply include the repeated parameter variable name as many times as needed in the Simulink system and declare it tunable using the Tunable Parameters dialog box.

Gain Scheduling

Simultaneous Stabilization