Simulink Control Design™ - MathWorks

In Control System Tuner, the shaded area on the plot represents the region in the

frequency domain where the pole location constraints are not met.

To constrain dynamics or ensure stability of a single tunable component of the control

system, use “Controller Poles Goal” on page 10-174.

Creation

In the Tuning tab of Control System Tuner, select New Goal > Constraint on closed-

loop dynamics to create a Poles Goal.

Command-Line Equivalent

When tuning control systems at the command line, use TuningGoal.Poles to specify a

disturbance rejection goal.

Feedback Configuration

Use this section of the dialog box to specify the portion of the control system for which

you want to constrain dynamics. You can also specify loop-opening locations for

evaluating the tuning goal.

• Entire system

Select this option to constrain the locations of closed-loop poles of the control system.

• Specific feedback loop(s)

Select this option to specify one or more feedback loops to constrain. Specify a

feedback loop by selecting a signal location in your control system. Poles Goal

constrains the dynamics of the sensitivity function measured at that location. (See

getSensitivity for information about sensitivity functions.)

To constrain the dynamics of a SISO loop, select a single-valued location. For example,

to constrain the dynamics of the sensitivity function measured at a location named

'y', click Add signal to list and select 'y'. To constrain the dynamics of a MIMO

loop, select multiple signals or a vector-valued signal.

• Compute poles with the following loops open

Select one or more signal locations in your model at which to open a feedback loop for

the purpose of evaluating this tuning goal. The tuning goal is evaluated against the

10 Control System Tuning