Simulink Control Design™ - MathWorks

(^3) (Optional) Check the linearization result by frequency response estimation.
input = frest.Sinestream(sys_nd);
sysest = frestimate(mdl,io,input);
bode(sys_nd,'g',sysest,'r*',{input.Frequency(1),input.Frequency(end)})
legend('Linearization without delay',...
'Frequency Response Estimation','Location','SouthWest')
The exact linearization does not account for the time delay introduced by the
controller execution offset. A discrepancy results between the linearized model and
the estimated model, especially at higher frequencies.
(^4) Write a function to specify the linearization of the Controller block that includes
the time delay.
The following configuration function defines a linear system that equals the default
block linearization multiplied by a time delay. Save this configuration function to a
2 Linearization