Simulink Control Design™ - MathWorks

y = yout.signals.values;

step(T2), hold, plot(t,y,'r--')

legend('Continuous','Hybrid (Simulink)')

Current plot held

Direct Discrete-Time Tuning

Alternatively, you can tune the controller directly in discrete time to avoid discretization

issues with the notch filter. To do this, specify that the Simulink model should be

linearized and tuned at the controller sample time of 0.002 seconds:

ST0 = slTuner('rct_dmcNotch',{'Gain','Leadlag','Notch'});

ST0.Ts = 0.002;

12 Loop-Shaping Design