findop
Steady-state operating point from specifications (trimming) or simulation
Syntax
Description
returns the operating point of the model that meets the specifications in
op
= findop(mdl
,opspec
)opspec
. Typically, you trim the model at a steady-state operating
point. The Simulink® model must be open. If opspec
is an array of
operating points specifications, findop
returns an array of
corresponding operating points.
Examples
Trim Model to Meet State Specifications
Open the Simulink model.
mdl = 'watertank';
open_system(mdl)
Trim the model to find a steady-state operating point where the water tank level is 10
.
Create default operating point specification object.
opspec = operspec(mdl);
Configure specifications for the first model state. The first state must be at steady state with a lower bound of 0
. Provide an initial guess of 2
for the state value.
opspec.States(1).SteadyState = 1; opspec.States(1).x = 2; opspec.States(1).Min = 0;
Configure the second model state as a known state with a value of 10
.
opspec.States(2).Known = 1; opspec.States(2).x = 10;
Find the operating point that meets these specifications.
op = findop(mdl,opspec);
Operating point search report: --------------------------------- opreport = Operating point search report for the Model watertank. (Time-Varying Components Evaluated at time t=0) Operating point specifications were successfully met. States: ---------- Min x Max dxMin dx dxMax ______ ______ ______ ______ ______ ______ (1.) watertank/PID Controller/Integrator/Continuous/Integrator 0 1.2649 Inf 0 0 0 (2.) watertank/Water-Tank System/H 10 10 10 0 0 0 Inputs: None ---------- Outputs: None ----------
Batch Trim Simulink Model for Parameter Variation
Open the Simulink model.
mdl = 'watertank';
open_system(mdl)
Vary parameters A
and b
within 10% of their nominal values, and create a 3-by-4 parameter grid.
[A_grid,b_grid] = ndgrid(linspace(0.9*A,1.1*A,3),...
linspace(0.9*b,1.1*b,4));
Create a parameter structure array, specifying the name and grid points for each parameter.
params(1).Name = 'A'; params(1).Value = A_grid; params(2).Name = 'b'; params(2).Value = b_grid;
Create a default operating point specification for the model.
opspec = operspec(mdl);
Trim the model using the specified operating point specification and parameter grid.
opt = findopOptions('DisplayReport','off'); op = findop(mdl,opspec,params,opt);
op
is a 3-by-4 array of operating point objects that correspond to the specified parameter grid points.
Trim Model Using Specified Optimizer Type
Open the Simulink model.
mdl = 'watertank';
open_system(mdl)
Create a default operating point specification object.
opspec = operspec(mdl);
Create an option set that sets the optimizer type to gradient descent and suppresses the search report display.
opt = findopOptions('OptimizerType','graddescent','DisplayReport','off');
Trim the model using the specified option set.
op = findop(mdl,opspec,opt);
Obtain Operating Point Search Report
Open the Simulink model.
mdl = 'watertank';
open_system(mdl)
Create default operating point specification object.
opspec = operspec(mdl);
Configure specifications for the first model state.
opspec.States(1).SteadyState = 1; opspec.States(1).x = 2; opspec.States(1).Min = 0;
Configure specifications for the second model state.
opspec.States(2).Known = 1; opspec.States(2).x = 10;
Find the operating point that meets these specifications, and return the operating point search report. Create an option set to suppress the search report display.
opt = findopOptions('DisplayReport',false);
[op,opreport] = findop(mdl,opspec,opt);
opreport
describes how closely the optimization algorithm met the specifications at the end of the operating point search.
opreport
opreport = Operating point search report for the Model watertank. (Time-Varying Components Evaluated at time t=0) Operating point specifications were successfully met. States: ---------- Min x Max dxMin dx dxMax ______ ______ ______ ______ ______ ______ (1.) watertank/PID Controller/Integrator/Continuous/Integrator 0 1.2649 Inf 0 0 0 (2.) watertank/Water-Tank System/H 10 10 10 0 0 0 Inputs: None ---------- Outputs: None ----------
dx
is the time derivative for each state. Since all dx
values are zero, the operating point is at steady state.
Extract Operating Points at Simulation Snapshots
Open the Simulink model.
mdl = 'magball';
open_system(mdl)
Simulate the model, and extract operating points at 10
and 20
time units.
op = findop(mdl,[10,20]);
op
is a column vector of operating points, with one element for each snapshot time.
Display the first operating point.
op(1)
ans = Operating point for the Model magball. (Time-Varying Components Evaluated at time t=10) States: ---------- x __________ (1.) magball/Controller/PID Controller/Filter/Cont. Filter/Filter 5.4732e-07 (2.) magball/Controller/PID Controller/Integrator/Continuous/Integrator 14.0071 (3.) magball/Magnetic Ball Plant/Current 7.0036 (4.) magball/Magnetic Ball Plant/dhdt 8.443e-08 (5.) magball/Magnetic Ball Plant/height 0.05 Inputs: None ----------
Vary Parameters and Extract Operating Points at Simulation Snapshots
Open Simulink model.
mdl = 'watertank';
open_system(mdl)
Specify parameter values. The parameter grids are 5-by-4 arrays.
[A_grid,b_grid] = ndgrid(linspace(0.9*A,1.1*A,5),... linspace(0.9*b,1.1*b,4)); params(1).Name = 'A'; params(1).Value = A_grid; params(2).Name = 'b'; params(2).Value = b_grid;
Simulate the model and extract operating points at 0
, 5
, and 10
time units.
op = findop(mdl,[0 5 10],params);
findop
simulates the model for each parameter value combination, and extracts operating points at the specified simulation times.
op
is a 3-by-5-by-4 array of operating point objects.
size(op)
ans = 3 5 4
Input Arguments
mdl
— Simulink model name
character vector | string
Simulink model name, specified as a character vector or string. The model must be in the current working folder or on the MATLAB® path.
opspec
— Operating point specifications
OperatingSpec
object | array of OperatingSpec
objects
Operating point specifications for trimming the model, specified as an
OperatingSpec
object or an array of
OperatingSpec
objects created using the operspec
function.
If opspec
is an array, findop
returns
an array of corresponding operating points using a single model compilation.
param
— Parameter samples
structure | structure array
Parameter samples for trimming, specified as one of the following:
Structure — Vary the value of a single parameter by specifying parameters as a structure with the following fields.
Name
— Parameter name, specified as a character vector or string. You can specify any model parameter that is a variable in the model workspace, the MATLAB workspace, or a data dictionary. If the variable used by the model is not a scalar variable, specify the parameter name as an expression that resolves to a numeric scalar value. For example, use the first element of vectorV
as a parameter.parameters.Name = 'V(1)';
Value
— Parameter sample values, specified as a double array.
For example, vary the value of parameter
A
in the 10% range.parameters.Name = 'A'; parameters.Value = linspace(0.9*A,1.1*A,3);
Structure array — Vary the value of multiple parameters. For example, vary the values of parameters
A
andb
in the 10% range.[A_grid,b_grid] = ndgrid(linspace(0.9*A,1.1*A,3),... linspace(0.9*b,1.1*b,3)); parameters(1).Name = 'A'; parameters(1).Value = A_grid; parameters(2).Name = 'b'; parameters(2).Value = b_grid;
When you specify parameter value variations, findop
batch
trims the model for each parameter value combination, and returns
an array of corresponding operating points. If param
specifies
tunable parameters only, then the software batch trims the model using
a single compilation.
If you specify opspec
as a single operspec
object
and the parameter values in param
produce states
that conflict with known states in opspec
, findop
trims
the model using the specifications in opspec
.
To trim the model at state values derived from the parameter values,
specify opspec
as an array of corresponding operspec
objects.
For an example, see Batch Trim Simulink Model for Parameter Variation.
options
— Trimming options
findopOptions
option set
Trimming options, specified as a findopOptions
option
set.
tsnapshot
— Simulation snapshot times
scalar | vector
Simulation snapshot times at which to extract the operating
point of the model, specified as a scalar for a single snapshot or
a vector for multiple snapshots. findop
simulates
the model and computes an operating point for the state of the model
at each snapshot time.
Output Arguments
op
— Operating point
OperatingPoint
object | array of OperatingPoint
objects
Operating point, returned as an OperatingPoint
object or an array of
OperatingPoint
objects. The dimensions of
op
depend on the specified parameter variations and
either the operating-point specifications or the simulation snapshot
time.
Parameter Variation | Find operating point for... | Resulting op
Dimensions |
---|---|---|
No parameter variation | Single operating-point specification, specified by
opspec | single operating-point object |
Single snapshot time, specified by
tsnapshot | ||
N1-by-... -by-Nm
array of operating-point specifications, specified by
opspec | N1-by-... -by-Nm | |
Ns snapshots,
specified by tsnapshot | Column vector of length Ns | |
N1-by-... -by-Nm
parameter grid, specified by
param | Single operating-point specification, specified by
opspec | N1-by-... -by-Nm |
Single snapshot time, specified by
tsnapshot | ||
N1-by-... -by-Nm
array of operating-point specifications, specified by
opspec | ||
Ns snapshots,
specified by tsnapshot | Ns-by-N1-by-... -by-Nm. |
For example, suppose:
opspec
is a single operating-point specification object andparam
specifies a 3-by-4-by-2 parameter grid. In this case,op
is a 3-by-4-by-2 array of operating points.tsnapshot
is a scalar andparam
specifies a 5-by-6 parameter grid. In this case,op
is a 1-by-5-by-6 array of operating points.tsnapshot
is a row vector with three elements andparam
specifies a 5-by-6 parameter grid. In this case,op
is a 3-by-5-by-6 array of operating points.
Each operating-point object has the following properties:
Property | Description | ||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Model | Simulink model name, returned as a character vector. | ||||||||||||||||||
States | State operating point, returned as a vector of state objects. Each entry in For a list of supported states for operating point objects, see Simulink Model States Included in Operating Point Object. Note If the block has multiple named continuous states, Each state object has the following fields:
| ||||||||||||||||||
Inputs | Input level at the operating point, returned as a vector of input objects. Each entry
in Each input object has the following fields:
| ||||||||||||||||||
Time | Times at which any time-varying functions in the model are evaluated, returned as a vector. | ||||||||||||||||||
Version | Object version number |
You can edit the properties of op
using
dot notation or the set
function.
opreport
— Operating point search report
OperatingReport
object | array of OperatingReport
objects
Operating point search report, returned as an OperatingReport
object. If
op
is an array of OperatingPoint
objects, then opreport
is an array of corresponding
OperatingReport
objects.
This report displays automatically, even when you suppress the
output using a semicolon. To hide the report, set the DisplayReport
field
in options
to 'off'
.
Each operating point search report has the following properties:
Property | Description | ||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Model |
| ||||||||||||||||||
Inputs |
| ||||||||||||||||||
Outputs | Output values at the computed operating point. This object contains the same fields as
the | ||||||||||||||||||
States |
| ||||||||||||||||||
Time | Time property value of op | ||||||||||||||||||
TerminationString | Optimization termination condition, returned as a character vector. | ||||||||||||||||||
OptimizationOutput |
Optimization algorithm search results, returned as a structure with the following fields:
For more information about the optimization algorithm, see the Optimization Toolbox™ documentation. |
More About
Steady-State Operating Point (Trim Condition)
A steady-state operating point of a model, also called an equilibrium or trim condition, includes state variables that do not change with time.
A model can have several steady-state operating points. For example, a hanging damped pendulum has two steady-state operating points at which the pendulum position does not change with time. A stable steady-state operating point occurs when a pendulum hangs straight down. When the pendulum position deviates slightly, the pendulum always returns to equilibrium. In other words, small changes in the operating point do not cause the system to leave the region of good approximation around the equilibrium value.
An unstable steady-state operating point occurs when a pendulum points upward. As long as the pendulum points exactly upward, it remains in equilibrium. However, when the pendulum deviates slightly from this position, it swings downward and the operating point leaves the region around the equilibrium value.
When using optimization search to compute operating points for nonlinear systems, your initial guesses for the states and input levels must be near the desired operating point to ensure convergence.
When linearizing a model with multiple steady-state operating points, it is important to have the right operating point. For example, linearizing a pendulum model around the stable steady-state operating point produces a stable linear model, whereas linearizing around the unstable steady-state operating point produces an unstable linear model.
Tips
You can initialize an operating point search at a simulation snapshot or a previously computed operating point using
initopspec
.Linearize the model at the operating point
op
usinglinearize
.To extract state and input values from an operating point object, use
getstatestruct
andgetinputstruct
, respectively.
Algorithms
By default, findop
uses the optimizer
graddescent-elim
. To use a different optimizer, change the value
of OptimizerType
in options
using findopOptions
.
findop
automatically sets these Simulink model
properties for optimization:
BufferReuse = 'off'
BlockReductionOpt = 'off'
SaveFormat = 'StructureWithTime'
After the optimization completes, Simulink restores the original model properties.
Alternative Functionality
App
As an alternative to the findop
command, you can find operating
points in one of the following ways.
Compute operating points using the Steady State Manager. For an example, see Compute Operating Points from Specifications Using Steady State Manager.
If you are computing an operating point for linearization, you can find the operating point and linearize the model using the Model Linearizer. For an example, see Compute Operating Points from Specifications Using Model Linearizer.
Version History
Introduced before R2006aR2021b: PortWidth
property of operating point inputs and outputs will be removed
The input and output PortWidth
properties of operating points
and operating point search reports will be removed in a future release. Use the new
Nu
and Ny
properties instead.
To update your code, change instances of PortWidth
to either
Nu
or Ny
as shown in the following
table.
Not Recommended | Recommended |
---|---|
[op,report] = findop("scdplane",10);
numOut = op.Outputs(1).PortWidth;
numIn = report.Inputs(1).PortWidth; |
[op,report] = findop("scdplane",10);
numOut = op.Outputs(1).Ny;
numIn = report.Inputs(1).Nu; |
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