i keep geting this error Unable to resolve the name 'looptuneG​oal.StepTr​acking'. Error in PID (line 18) TR = looptuneGo​al.StepTra​cking(RefS​ignals, Measurements, 0.05, 0);

TunedBlocks = {'PD1', 'PD2'};

ST0 = slTuner('DOF2_PD', TunedBlocks);

addPoint(ST0, TunedBlocks);

addPoint(ST0, 'robot/qm');

RefSignals = {'DOF2_PD/Signal Builder/q1', 'DOF2_PD/Signal Builder/q2'};

addPoint(ST0, RefSignals);

Controls = TunedBlocks;

Measurements = 'DOF2_PD/robot/qm';

options = looptuneOptions('RandomStart', 80, 'UseParallel', false);

TR = looptuneGoal.StepTracking(RefSignals, Measurements, 0.05, 0);

ST1 = looptune(ST0, Controls, Measurements, TR, options);

writeBlockValue(ST1);

Answer 1

[R]

Hi,

I understand that you want to pass Design Goals, i.e., a TuningGoal object, into the "looptune" function. To create this TuningGoal object, you can use the "TuningGoal.StepTracking" function. Below are the changes you can make to your code to resolve the error:

TR = TuningGoal.StepTracking(RefSignals, Measurements, 0.05, 0);
ST1 = looptune(ST0, Controls, Measurements, TR, options);

Refer to the following documentations to understand about the "TuningGoal.StepTracking" function and other Tuning Goals supported by MATLAB:

• https://www.mathworks.com/help/control/ref/tuninggoal.steptracking.html
• https://www.mathworks.com/help/control/tuning-goals-1.html