Simulink Control Design™ - MathWorks

• getCompSensitivity (for slTuner)

In either case, the extracted responses are represented by state-space (ss) models. You

can analyze these models using commands such as step, bode, sigma, or margin.

For instance, suppose that you are tuning the control system of the example “Multiloop

Control of a Helicopter” (Control System Toolbox). You have created an slTuner

interface ST0 for the Simulink model. You have also specified tuning goals TrackReq,

MarginReq1, MarginReq2, and PoleReq. You tune the control system using systune.

AllReqs = [TrackReq,MarginReq1,MarginReq2,PoleReq];

ST1 = systune(ST0,AllReqs);

Final: Soft = 1.11, Hard = -Inf, Iterations = 124

Suppose also that ST0 has analysis points that include signals named theta-ref, theta,

phi-ref, and phi. Use getIOTransfer to extract the tuned transfer functions from

theta-ref and phi-ref to theta and phi.

T1 = getIOTransfer(ST1,{'theta-ref','phi-ref'},{'theta','phi'});

step(T1,5)

10 Control System Tuning