If the response has excessive overshoot, use the TuningGoal.Overshoot requirement
in conjunction with the TuningGoal.Tracking requirement. For example, you can limit
the overshoot from r to y to 10% using
R3 = TuningGoal.Overshoot('r','y',10);
Disturbance Rejection
In feedback loops such as the one shown in Figure 1, the open- and closed-loop responses
from disturbance to output are related by
Frequency-Domain Specifications