Tuning two gains with constraint to have the same value

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Hi everyone,
with reference to the scheme attached below, I would like to tune the gains Kp and Kp1 using the Control System Tuner App and related utilities. The problem is that, in many cases, one of the two gains tends to 0, therefore making the control system structure kind of degenerate (one of the loops disappears, basically).
Is there way to impose that the two gains should actually have the same numeric value?
Ff anf Fi gains are constant and assigned, so they do not enter the problem in any way.

Answers (1)

Arkadiy Turevskiy
Arkadiy Turevskiy on 7 Oct 2020
Hi, good question.
There does not appear to be a way to enforce that two gains should be the same. It seems the original problem is thta one of the gains gets set to zero. You can avoid that by restricting the range of values during tuning - would that work for you?
To restrict the value:

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