Simulink Control Design™ - MathWorks

(^6) Linearize the model using the specified block linearization.
sys_d = linearize(mdl,io);
The linear model sys_d is a linearization of the closed-loop model that accounts for
the time delay.
(^7) (Optional) Compare the linearization that includes the delay with the estimated
frequency response.
bode(sys_d,'b',sys_nd,'g',sysest,'r*',...
{input.Frequency(1),input.Frequency(end)})
legend('Linearization with delay','Linearization without delay',...
'Frequency Response Estimation','Location','SouthWest')
2 Linearization