All requirements are nearly met (a requirement is satisfied when its normalized value is
less than 1). Verify this graphically.figure('Position',[10,10,1071,714])
viewGoal([TR DR RO M1 M2],ST1)Plot the setpoint tracking and disturbance rejection responses. Scale by the signal
amplitudes to show normalized effects (boost pressure changes by +10 KPa, EGR
massflow by +3 g/s, fuel mass by +5 mg, and speed by -200 rpm).figure('Position',[100,100,560,500])
T1 = getIOTransfer(ST1,{'BOOST REF';'EGRMF REF'},{'BOOST','EGRMF','EGRLIFT','VGTPOS'});
T1 = diag([1/10 1/3 1 1]) * T1 * diag([10 3]);
subplot(211), step(T1(1:2,:),15), title('Setpoint tracking')
subplot(212), step(T1(3:4,:),15), title('Control effort')13 Control System Tuning Examples