2018-10-07 22:07:21 +02:00
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function [K] = generateDiagPidControl(G, fs)
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%%
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pid_opts = pidtuneOptions(...
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'PhaseMargin', 50, ...
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'DesignFocus', 'disturbance-rejection');
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%%
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K = tf(zeros(6));
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2018-10-30 14:37:19 +01:00
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for i = 1:6
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2018-10-07 22:07:21 +02:00
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input_name = G.InputName(i);
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output_name = G.OutputName(i);
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K(i, i) = tf(pidtune(minreal(G(output_name, input_name)), 'PIDF', 2*pi*fs, pid_opts));
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end
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K.InputName = G.OutputName;
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K.OutputName = G.InputName;
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end
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