Simulink Control Design™ - MathWorks

D =

u1

y1 0

Name: Trigonometric Function

Static gain.

The block linearized to zero. To see if this result is expected for the current operating

condition of the block, check its operating point.

diag.OperatingPoint

ans =

Block Operating Point for scdpendulum/pendulum/Trigonometric Function

Inputs:

-------

Port u

1 1.5708

The input operating point of the block is.

You can find the linearization of the block analytically by taking the first derivative of the

sin function with respect to the input.

Therefore, when evaluated at the linearization of the block is zero. The source of

the input is the first output of the second-order integrator, which is dependent upon the

state theta. Therefore, this block linearizes to zero if , where is an

integer. The same condition applies for the other Trigonometric Function block in the

angle_wrap subsystem. If these blocks are not expected to linearize to zero, you can

modify the operating point state theta, and relinearize the model.

4 Troubleshooting Linearization Results