Simulink Control Design™ - MathWorks

response from a location named 'u' to a location named 'y', click Add signal to

list and select 'u'. To constrain a MIMO response, select multiple signals or a vector-

valued signal.

• Specify reference-tracking outputs

Select one or more signal locations in your model as reference-tracking outputs. To

constrain a SISO response, select a single-valued output signal. For example, to

constrain the step response from a location named 'u' to a location named 'y', click

Add signal to list and select 'y'. To constrain a MIMO response, select multiple

signals or a vector-valued signal. For MIMO systems, the number of outputs must

equal the number of outputs.

• Evaluate tracking performance with the following loops open

Select one or more signal locations in your model at which to open a feedback loop for

the purpose of evaluating this tuning goal. The tuning goal is evaluated against the

open-loop configuration created by opening feedback loops at the locations you

identify. For example, to evaluate the tuning goal with an opening at a location named

'x', click Add signal to list and select 'x'.

TipTo highlight any selected signal in the Simulink model, click. To remove a signal

from the input or output list, click. When you have selected multiple signals, you can

reorder them using and. For more information on how to specify signal locations

for a tuning goal, see “Specify Goals for Interactive Tuning” on page 10-39.

Tracking Performance

Use this section of the dialog box to specify frequency-domain constraints on the tracking

error.

Response time, DC error, and peak error

Select this option to specify the tracking error in terms of response time, percent steady-

state error, and peak error across all frequencies. These parameters are converted to the

following transfer function that describes the maximum frequency-domain tracking error:

10 Control System Tuning