Specify parameter variations for the outer-loop controller gains, Kp1 and Ki1. Create
parameter grids for each gain value.Kp1_range = linspace(Kp1*0.8,Kp1*1.2,6);
Ki1_range = linspace(Ki1*0.8,Ki1*1.2,4);
[Kp1_grid,Ki1_grid] = ndgrid(Kp1_range,Ki1_range);Create a parameter value structure with fields Name and Value.params(1).Name = 'Kp1';
params(1).Value = Kp1_grid;
params(2).Name = 'Ki1';
params(2).Value = Ki1_grid;params is a 6-by-4 parameter value grid, where each grid point corresponds to a unique
combination of Kp1 and Ki1 values.Define linearization input and output points for computing the closed-loop response of the
system.io(1) = linio('scdcascade/setpoint',1,'input');
io(2) = linio('scdcascade/Sum',1,'output');Linearize the model at the model operating point using the specified parameter values.linsys = linearize(mdl,io,params);15 Alphabetical List