Next, create tuning goals for the desired stability margin requirements. For this example,
the multivariable gain and phase margins at the plant inputs u and plant outputs y must
be at least 5 dB and 40 degrees. Create separate tuning goals for the input and output
margin constraints. In the New Goal drop-down list, select Minimum stability
margins. In the Margins Goal dialog box, add the input signal u under Measure
stability margins at the following locations. Also, enter the gain and phase values 5
and 40 in the Desired Margins section of the dialog box. Click OK to save the input
stability margin goal.13 Control System Tuning Examples