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SystemsModelControllerData[…]

represents controller data generated by functions LQGRegulator, PIDTune, etc.

Details
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Examples  
Basic Examples  
Scope  
Controller Designs  
Applications  
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SystemsModelControllerData

SystemsModelControllerData[…]

represents controller data generated by functions LQGRegulator, PIDTune, etc.

Details

  • A SystemsModelControllerData[…] object cd can be used to retrieve data through cd["property"].
  • A list of available properties is given by cd["Properties"]. Additional details about the properties are listed on the page for each controller design function.
  • State feedback controller design functions include:
  • StateFeedbackGainspole placement
    LQRegulatorGainslinear quadratic (LQ) optimal control
    DiscreteLQRegulatorGainsapproximate discrete-time LQ optimal control
  • Output feedback controller design functions include:
  • EstimatorRegulatorassembling state feedback and state estimator
    LQGRegulatorLQ Gaussian optimal regulator and estimator
    PIDTuneautomatically tuned PID controller
  • Typical properties include:
  • "Design"type of controller design
    "ClosedLoopSystem"the closed-loop system with plant and controller
    "ClosedLoopPoles"the poles of the Taylor linearized closed-loop system
    "InputsCount"number of inputs
    "OutputsCount"number of outputs
  • Other specifications include:
  • {p1,…,pn}get the values of properties pi
    "Dataset"get the property names and values as a Dataset
    "PropertyAssociation"get the property names and values as an Association

Examples

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Basic Examples  (1)

Create a SystemsModelControllerData object:

Wolfram Language code: cd = PIDTune[TransferFunctionModel[{{{1.5}}, (1 + s)*(1 + 3*s)}, s], Automatic, "Data"]

Obtain a list of available properties:

Wolfram Language code: cd["Properties"]

Extract a property:

Wolfram Language code: cd["Feedback"]

Retrieve a list of properties:

Wolfram Language code: cd[{"FeedbackIdealParameters", "OpenLoop"}]

Scope  (7)

Controller Designs  (7)

Get the controller data object for a pole-placement design using StateFeedbackGains:

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1, 0}, {0, 0, 1}, {-1, -2, -2}}, {{0}, {0}, {1}}, {{4, 0, 1}}, {{0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; p = {-3 + 2 I, -3 - 2 I, -7};
Wolfram Language code: cd = StateFeedbackGains[ssm, p, "Data"]

Its properties:

Wolfram Language code: cd["Properties"]

Get the controller data object for a regulator design using LQRegulatorGains:

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1}, {2, -1}}, {{0}, {1}}, {{1, 0}}, {{0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {q, r} = {(⁠| | | | -- | - | | 10 | 0 | | 0 | 5 |⁠), (⁠1⁠)};
Wolfram Language code: cd = LQRegulatorGains[ssm, {q, r}, "Data"]

Its properties:

Wolfram Language code: cd["Properties"]

Get the controller data object for a regulator design using LQOutputRegulatorGains:

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1, 0}, {0, -0.01, 0.3}, {0, -0.003, -10}}, {{0, 0, 0.1}, {0, -1, 0}, {0.1, 0, -0.2}}, {{1, 0, 0}, {0, 1, 0}}, {{1, -1, 0}, {0, 1.3, 0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {q, r, p} = {(⁠| | | | - | - | | 1 | 0 | | 0 | 1 |⁠), (⁠| | | | | - | - | - | | 1 | 0 | 0 | | 0 | 1 | 0 | | 0 | 0 | 1 |⁠), (⁠| | | | | --- | ---- | ---- | | 0.1 | -0.2 | 0.15 | | 0 | 0 | 0.2 |⁠)};
Wolfram Language code: cd = LQOutputRegulatorGains[ssm, {q, r, p}, "Data"]

Its properties:

Wolfram Language code: cd["Properties"]

Get the controller data object for a discrete-time design using DiscreteLQRegulatorGains:

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1}, {0, -5}}, {{0, 0}, {1, 0.1}}, {{1, 0}}, {{0, 0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {q, r} = {(⁠| | | | --- | -- | | 100 | 0 | | 0 | 10 |⁠), (⁠| | | | -- | - | | 10 | 0 | | 0 | 1 |⁠)}; τ = 0.1;
Wolfram Language code: cd = DiscreteLQRegulatorGains[ssm, {q, r}, τ, "Data"]

Its properties:

Wolfram Language code: cd["Properties"]

Get the controller data object for a controller assembled using EstimatorRegulator:

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1}, {1, 0}}, {{0}, {-1}}, {{2, 1}}, {{0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {ℓ, κ} = {{{-3}, {17}}, {{-7, -5}}};
Wolfram Language code: cd = EstimatorRegulator[ssm, {ℓ, κ}, "Data"]

Its properties:

Wolfram Language code: cd["Properties"]

Get the controller data object for a controller designed using LQGRegulator:

Wolfram Language code: sys = StateSpaceModel[{{{-0.3, 0.2}, {0.15, -0.25}}, {{2}, {7}}, {{1, -4}}, {{0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {w, v} = {(⁠{}⁠), (⁠1⁠)}; {q, r} = {(⁠| | | | ----- | ----- | | 0.001 | 0 | | 0 | 0.001 |⁠), (⁠0.1⁠)};
Wolfram Language code: cd = LQGRegulator[sys, {w, v}, {q, r}, "Data"]

Its properties:

Wolfram Language code: cd["Properties"]

Get the controller data object for a controller designed using PIDTune:

Wolfram Language code: cd = PIDTune[TransferFunctionModel[{{{5}}, (1 + 2.5*s)^2}, s], "PID", "Data"]

Its properties:

Wolfram Language code: cd["Properties"]

Applications  (1)

Automatically compute properties of a controller design for further analysis:

Wolfram Language code: iPend = StateSpaceModel[{{{0, 1, 0, 0}, {12.62058823529412, 0, 0, 0}, {0, 0, 0, 1}, {-0.9275000000000002, 0, 0, 0}}, {{0}, {-0.21008403361344538}, {0}, {0.17857142857142858}}, {{1, 0, 0, 0}, {0, 0, 1, 0}}, {{0}, {0}}}, {{θ[t], 0}, Subscript[, 1], {x[t], 0}, Subscript[, 2]}, {{F[t], 0}}, {θ[t], x[t]}, t, SamplingPeriod -> None, SystemsModelLabels -> None]; wts = {DiagonalMatrix[{50, 1, 500, 1}], {{5}}};

The data object:

Wolfram Language code: cd = LQRegulatorGains[iPend, wts, "Data"]

Compute the state response using the "ClosedLoopSystem" property:

Wolfram Language code: sr = StateResponse[{cd[{"ClosedLoopSystem", <|"Merge" -> True|>}], {0.01, 0, 0, 0}}, 0, {t, 0, 20}]; Plot[sr, {t, 0, 10}, PlotRange -> All, PlotLegends -> {"x", "v", "θ", "ω"}]

The closed-loop poles:

Wolfram Language code: cd["ClosedLoopPoles"]

Compare them to the open-loop poles:

Wolfram Language code: cd["OpenLoopPoles"]

The control effort:

Wolfram Language code: OutputResponse[cd["FeedbackGainsModel"], sr, {t, 0, 10}]; Plot[%, {t, 0, 10}, PlotRange -> All]
Wolfram Research (2021), SystemsModelControllerData, Wolfram Language function, https://reference.wolfram.com/language/ref/SystemsModelControllerData.html.

Text

Wolfram Research (2021), SystemsModelControllerData, Wolfram Language function, https://reference.wolfram.com/language/ref/SystemsModelControllerData.html.

CMS

Wolfram Language. 2021. "SystemsModelControllerData." Wolfram Language & System Documentation Center. Wolfram Research. https://reference.wolfram.com/language/ref/SystemsModelControllerData.html.

APA

Wolfram Language. (2021). SystemsModelControllerData. Wolfram Language & System Documentation Center. Retrieved from https://reference.wolfram.com/language/ref/SystemsModelControllerData.html

BibTeX

@misc{reference.wolfram_2026_systemsmodelcontrollerdata, author="Wolfram Research", title="{SystemsModelControllerData}", year="2021", howpublished="\url{https://reference.wolfram.com/language/ref/SystemsModelControllerData.html}", note=[Accessed: 13-June-2026]}

BibLaTeX

@online{reference.wolfram_2026_systemsmodelcontrollerdata, organization={Wolfram Research}, title={SystemsModelControllerData}, year={2021}, url={https://reference.wolfram.com/language/ref/SystemsModelControllerData.html}, note=[Accessed: 13-June-2026]}