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Linearizing a non-linear ARX model for making a PID controller ?

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Steve on 19 Feb 2015
Commented: Steve on 11 Mar 2015
Hi all,
I want to create a PID controller for my non-linear arx model but I was told that I needed to linearize my system first. Now I know the PID tuner automatically linearizes it but it does this at the first second at an input level of 1.
My plant has a dead zone behaviour at the first second and also, the input must be a minimum of 2.5V to get it to move from an output of zero.
How do I go about linearizing this non-linear arx plant at these specific conditions ?


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Accepted Answer

Arkadiy Turevskiy
Arkadiy Turevskiy on 26 Feb 2015
Please take a look at this video and try to follow the same approach.


Steve on 27 Feb 2015
Hey, thank for the reply. I find this to be a big coincidence, because I actually was following her webinar and I wanted to linearize at a different input level to hers. An input level of 2 to be exact. From the code i saw an input level of 1 by coding : 'one(1000,1)', this seems to be an array of 1s in a 1000 by 1 matrix, how do i get twos? because when I put two(1000,1) i get an error.
Arkadiy Turevskiy
Arkadiy Turevskiy on 2 Mar 2015
ones is a standard MATLAB function for creating an array of ones. There is no function twos, so of course you will get an error. To define an input level of 2, simply do: 2*ones(1000,1)

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