Each tunable block is automatically parameterized according to its type and initialized
with its value in the Simulink model ( for the PI controllers and zero for the static
output-feedback gain). Simulating the model shows that the control system is unstable for
these initial values:
Mark the I/O signals of interest for setpoint tracking, and identify the plant inputs and
outputs (control and measurement signals) where the stability margin are measured.
addPoint(ST0,{'theta-ref','phi-ref','r-ref'}) % setpoint commands
addPoint(ST0,{'theta','phi','r'}) % corresponding outputs
addPoint(ST0,{'u','y'});
Multiloop Control of a Helicopter