Can not get all the objectives optimized.

[cnpcshangbo]

crossover frequency has been met, but the phase margin hasn't. I already tried to tune up the parameter M1, however, it doesn't work even I put it 10^1000.

[cnpcshangbo]

Try multi-objective optimization in MATLAB. Two options:

• For optimizing a single objective function subject to constraints, see Constrained Optimization.

• For optimizing multiple objective functions, see Multiobjective Optimization.

https://ww2.mathworks.cn/help/optim/nonlinear-programming.html

I'll try constrained optimization first. https://ww2.mathworks.cn/help/gads/examples/constrained-minimization-using-pattern-search.html

[cnpcshangbo]

4127c7905cb145b41521a78799dd0b08263b6fd3 Optimization terminated: no feasible point found. To do: use the values for ACC paper.

% k_p=x(1)=2.1654; % k_i=x(2)=0; % k_d=x(3)=2.1654*0.6192; % lambda=x(4)=0; % mu=x(5)=1.0497;

[cnpcshangbo]

The parameters make the Bode plot magnitude curve look good. However, the U_c1 and U_c2 are not zero. Therefore, there should be something wrong with U_c1 and U_c2. 83c0bd342b8bd6b7b40e7353beb5263ff71cf77f to do: check the formula for U_c1 and U_c2.

[cnpcshangbo]

Two errors found: G(jw) was set to zero previously.

[cnpcshangbo]

Optimization terminated: mesh size less than options.MeshTolerance try multi-obj