Simulink Control Design™ - MathWorks

Troubleshoot Linearization Results at Command Line

This example shows how to debug the linearization of a Simulink® model at the command

line using a LinearizationAdvisor object. You can also troubleshoot linearization

results interactively. For more information, see “Troubleshoot Linearization Results in

Linear Analysis Tool” on page 4-23.

Open the model.

mdl = 'scdpendulum';

open_system(mdl)

The initial condition for the pendulum angle is 90 degrees counterclockwise from the

upright unstable equilibrium of 0 degrees. The initial condition for the pendulum angular

velocity is 0 deg/s. The nominal torque to maintain this state is -49.05 N m. This

configuration is saved as the model initial condition.

Linearize the Model

Linearize the model using the analysis points defined in the model and the model

operating point.

io = getlinio(mdl);

linsys = linearize(mdl,io);

To check the linearization result, plot its Bode response.

bode(linsys)

4 Troubleshooting Linearization Results