Simulink Control Design™ - MathWorks

• A "Margins" goal to require gain margins of at least 7 dB and phase margins of at least
  45 degrees (in the disk margin sense).

R3 = TuningGoal.Margins('da;de;dr',7,45);

Gain Schedule Tuning

The gain schedules for the MIMO PI controller are specified by the "P" and "I" blocks in

the MIMO architecture. Recall that these blocks output 3-by-3 matrices and implement

the MIMO transfer function:

11 Gain-Scheduled Controllers