Here the control bandwidth is about 1 rad/s and the gain profile has two zeros at s = 0,
which become unstable poles in the weighting function (see TuningGoal.Tracking for
details). The regularization moves these zeros to about 0.01 rad/s, and the maximum
tracking error levels off at about 10–3 (0.1%). If you need better tracking accuracy, you
can explicitly specify the cutoff frequency in the error profile.
R2 = TuningGoal.Tracking('r','y',tf([1 0 5e-8],[1 2 1]));
viewGoal(R2)
set(gca,'Ylim',[1e-4,10])
Visualize Tuning Goals