tf(1,[1 1.414 1]). The reference model must be stable, and the series connection of
the reference model with the input shaping filter must have no feedthrough term.
Options
Use this section of the dialog box to specify additional characteristics of the transient
response goal.
- Keep % mismatch below
Specify the relative matching error between the actual (tuned) transient response and
the target response. Increase this value to loosen the matching tolerance. The relative
matching error, erel, is defined as:gap =yt −yreft 2
yref(tr)t 2.
y(t) – yref(t) is the response mismatch, and 1 – yref(tr)(t) is the transient portion of yref
(deviation from steady-state value or trajectory). ⋅ 2 denotes the signal energy (2-
norm). The gap can be understood as the ratio of the root-mean-square (RMS) of the
mismatch to the RMS of the reference transient.- Adjust for amplitude of input signals and Adjust for amplitude of output
signals
For a MIMO tuning goal, when the choice of units results in a mix of small and large
signals in different channels of the response, this option allows you to specify the
relative amplitude of each entry in the vector-valued signals. This information is used
to scale the off-diagonal terms in the transfer function from the tuning goal inputs to
outputs. This scaling ensures that cross-couplings are measured relative to the
amplitude of each reference signal.When these options are set to No, the closed-loop transfer function being constrained
is not scaled for relative signal amplitudes. When the choice of units results in a mix of
small and large signals, using an unscaled transfer function can lead to poor tuning
results. Set the option to Yes to provide the relative amplitudes of the input signals
and output signals of your transfer function.For example, suppose the tuning goal constrains a 2-input, 2-output transfer function.
Suppose further that second input signal to the transfer function tends to be about
100 times greater than the first signal. In that case, select Yes and enter [1,100] in
the Amplitudes of input signals text box.Transient Goal