How can I tune my nonlinear model with Control System Tuner?

I have modeled a quadcopter with simMechanics and simscape and manually tuned the PI-, PD-controllers.

This is the original quadcopter:

I got this response, for step changes in z, phi, theta and psi:

I tried to tune the controllers with the Control System Tuner but it didn't work. I think the problem is linearizing the plant correctly.

My question: How can I tune this structure with the Control System Tuner?

Answer 1

[Steve Miller]

I opened your project and was able to get select blocks and set goals with the Control System Tuner. Be careful, the files you uploaded are missing a block from a library. You can add the Translational Multibody Interface block from Simscape to replace the bad library link.

This example walks through the steps on a model that looks very similar to the one you uploaded.

https://www.mathworks.com/help/control/ug/tuning-control-systems-with-control-system-tuner.html

--Steve