Simulink Control Design™ - MathWorks

This requirement is satisfied at all frequencies, with the smallest margins achieved near

the crossover frequency as expected.

Evaluating Requirements

You can also use evalGoal to evaluate each requirement, that is, compute its

contribution to the soft and hard constraints. For example

[H1,f1] = evalGoal(Req1,ST1);

returns the value f1 of the requirement and the underlying frequency-weighted transfer

function H1 used to computed it. You can verify that f1 matches the first entry of fSoft

and coincides with the peak gain of H1.

13 Control System Tuning Examples