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Automatically tune a cascaded multi-loop control system for a DC motor using Control System Tuner app.
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Automatic Tuning of Multi-Loop DC Motor Controller

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Design a PID controller for a DC motor modeled in Simulink . Create a closed-loop system by using the PID Controller block, then tune the gains of PID Controller block using the PID Tuner.
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Explore how to automatically tune gain-scheduled control systems at this webinar.
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