Specify Tuning Goals
The design requirements for this system, discussed previously, include setpoint tracking,
minimum stability margins, and a limit on fast dynamics. In Control System Tuner, you
capture design requirements using tuning goals.
First, create a tuning goal for the setpoint-tracking requirement on theta, phi, and r.
On the Tuning tab, in the New Goal drop-down list, select Tracking of step
commands.
Tune a Control System Using Control System Tuner