Simulink Control Design™ - MathWorks

Reference Tracking and Overshoot Reduction

The TuningGoal.Tracking requirement enforces reference tracking and loop

decoupling objectives in the frequency domain. For example

R1 = TuningGoal.Tracking('r','y',2);

specifies that the output y should track the reference r with a two-second response time.

Similarly

R2 = TuningGoal.Tracking({'Vsp','wsp'},{'V','w'},2);

specifies that V should track Vsp and w should track wsp with minimum cross-coupling

between the two responses. Tracking requirements are converted into frequency-domain

constraints on the tracking error as a function of frequency. For the first requirement R1,

for example, the gain from r to the tracking error e = r-y should be small at low

frequency and approach 1 (100%) at frequencies greater than 1 rad/s (bandwidth for a

two-second response time). You can use viewGoal to visualize this frequency-domain

constraint. Note that the yellow region indicates where the requirement is violated.

viewGoal(R1)

13 Control System Tuning Examples