The decoupling matrix in the controller permits each channel of the two-channel output
signal y to track the corresponding channel of the reference signal r, with minimal
crosstalk. From the plot, you can how well this requirement is achieved when you tune
the control system for bandwidth alone. If the crosstalk still exceeds your design
requirements, you can use a TuningGoal.Gain requirement object to impose further
restrictions on tuning.Examine the frequency-domain response of the tuned result as an alternative method for
validating the tuned controller.figure('Position',[100,100,520,1000])
loopview(G,C,Info)12 Loop-Shaping Design