Simulink Control Design™ - MathWorks

fSoft =

1.2804 1.2805

gHard

gHard =

0.4678 1.0000

Here fSoft contains the final values of the first two requirements (soft constraints) and

gHard contains the final values of the last two requirements (hard constraints). The hard

constraints are satisfied since all entries of gHard are less than 1. As expected, the best

value of the first two requirements went up as the optimizer strived to strictly enforce the

fourth requirement.

bdclose('all')

13 Control System Tuning Examples