Simulink Control Design™ - MathWorks

params is a 6-by-4 parameter value grid, where each grid point corresponds to a unique

combination of Kp1 and Ki1 values.

Obtain the closed-loop transfer function from the reference input to the plant output for

the specified parameter values. If you do not specify an operating point, linearize uses

the current model operating point.

G = linearize(sys,io,params);

G is a 6-by-4 array of linearized models. Each entry in the array contains a linearization

for the corresponding parameter combination in params. For example, G(:,:,2,3)

corresponds to the linearization obtained by setting the values of the Kp1 and Ki1

parameters to Kp1_grid(2,3) and Ki1_grid(2,3), respectively. The set of parameter

values corresponding to each entry in the model array G is stored in the SamplingGrid

property of G. For example, examine the corresponding parameter values for linearization

G(:,:,2,3):

G(:,:,2,3).SamplingGrid

ans =

struct with fields:

Kp1: 0.1386

Ki1: 0.0448

To study the effects of the varying gain values, analyze the linearized models in G. For

example, examine the step responses for all Kp2 values and the third Ki1 value.

stepplot(G(:,:,:,3))

3 Batch Linearization