The target crossover is expressed as an integrator gain profile with a crossover between
0.1 and 0.5 rad/s, as specified by wc. If you want to specify a different loop shape, you can
alter this TuningGoal.LoopShape requirement before providing it to systune.looptune also tunes to default stability margins that you can change using
looptuneOptions. For systune, stability margins are specified using
TuningGoal.Margins requirements. Here, looptuneSetup has expressed the default
stability margins as soft TuningGoal.Margins requirements. For example, examine the
fourth entry in SoftReqs.SoftReqs(4)ans =15 Alphabetical List