These plots confirm that the first two requirements are nearly satisfied while the last two
are strictly enforced. Next, plot the responses to a step change in position and to a force
impulse on the cart.
T = getIOTransfer(ST,{'xref','dF'},{'x','Theta'});
figure('Position',[100 100 650 420]);
subplot(121), step(T(:,1),10)
title('Tracking of set point change in position')
subplot(122), impulse(T(:,2),10)
title('Rejection of impulse disturbance')
The responses are smooth with the desired settling times. Inspect the tuned values of the
controllers.
C1 = getBlockValue(ST,'Position Controller')
Control of an Inverted Pendulum on a Cart