| Parameter | Description |
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| Add Real Pole | Adds a real pole at a specific frequency on the Interactive Open-Loop Bode Magnitude plot. Click the Add Real Pole button, then click the location on the plot at which you want to place the pole. |
| Add Complex Pole | Adds a complex pole to a specific frequency on the Interactive Open-Loop Bode Magnitude plot. Click the Add Complex Pole button, then click the location on the plot at which you want to place the pole. |
| Add Real Zero | Adds a real zero at a specific frequency on the Interactive Open-Loop Bode Magnitude plot. Click the Add Real Zero button, then click the location on the plot at which you want to place the zero. |
| Add Complex Zero | Adds a complex zero at a specific frequency on the Interactive Open-Loop Bode Magnitude plot. Click the Add Complex Zero button, then click the location on the plot at which you want to place the zero. |
| Remove Pole or Zero | Removes the controller pole or zero from the Interactive Open-Loop Bode Magnitude plot. |
| Move Pole or Zero | Enables you to click and drag a controller pole or zero around the Interactive Open-Loop Bode Magnitude plot. |
| Interactive Open-Loop Bode Magnitude | Displays the Bode magnitude of an open-loop transfer function defined by the loop transfer function, which calculates the controller in series with the plant and sensor (CPH). Closed-loop poles appear red. You can move the closed-loop poles to change the closed-loop gain by clicking and dragging the poles on the graph. You can tune the gain by changing position of the closed-loop poles. Controller poles and zeros appear blue. Click the buttons above the graph then click the controller poles and zeros on the plot to add, move, or delete the controller poles and zeros. Open-loop poles or zeros appear gray. You cannot move open-loop poles or zeros. |
| Interactive Bode Phase | Displays the phase (in degrees) of the model plotted against a set of frequencies. Closed-loop poles appear red. You can move the closed-loop poles to change the closed-loop gain by clicking and dragging the poles on the graph. You can tune the gain by changing position of the closed-loop poles. Controller poles and zeros appear blue. Click the buttons above the graph then click the controller poles and zeros on the plot to add, move, or delete the controller poles and zeros. Open-loop poles or zeros appear gray. You cannot move open-loop poles or zeros. |
| Stable/Unstable | Indicates whether the resulting closed-loop system with the controller that this step creates is stable. |
| Model Input | Contains the following parameters:
- Plant (P)—Specifies the model to use as the plant (P) in the structure.
- Sensor (H)—Specifies the model in the feedback loop to use as the sensor (H) in the structure.
- Filter (F)—Specifies the model in the feedthrough with the feedback loop to use as the filter (F) in the structure.
- Controller (C)—Specifies the initial system controller (C) to use in the structure. If you place a checkmark in the Controller (C) checkbox, you can select the initial model that represents the controller. If you make changes to this model of the controller in a previous step, this step does not update the controller information automatically. You must click the Initialize controller button to update the initial model information that this step uses for the controller.
- Initialize controller—Updates the initial model information that this step uses for the controller. If you make changes to the model of the controller in a previous step, this step does not update the controller information until you click the Initialize controller button.
- Feedback—Specifies the type of feedback loop.
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| Model Output | Contains the following options:
- Export Models—Contains the following parameters:
- Output controller (c)—Specifies that the step returns the final controller system.
- Closed loop (r-y)—Specifies that the step returns the complete closed-loop system.
- Control output (r-u)—Specifies that the step returns the equivalent system to analyze the control effort, or the signal applied to the input of the system.
- Loop transfer (CPH)—Specifies that the step returns the equivalent system for loop transfer in the series controller-plant-sensor.
- Plant sensitivity (dy-y)—Specifies that the step returns the equivalent system model for output sensitivity or the model from the output y against a disturbance in the output y.
- Output sensitivity (du-y)—Specifies that the step returns the equivalent system model for plant sensitivity or a variation of y against a disturbance in the input u.
- Sensor sensitivity (dh-y)—Specifies that the step returns the equivalent system model for sensor sensitivity or the model from the output y against a disturbance after the sensor H.
- Sampling time (s)—Defines the smallest sampling time used in the discrete models. If the system model is continuous or has a higher sampling rate, this step discretizes the model using zero-order-hold and the smallest sampling time.
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| Controller Synthesis | Contains the following options:
- Autoscale magnitude—Automatically scales the y-axis of the magnitude on the Interactive Open-Loop Bode Magnitude graph.
- Autoscale phase—Automatically scales the y-axis of the phase on the Interactive Bode Phase graph.
- Autoscale frequency—Automatically scales the x-axis of the frequency on the Interactive Open-Loop Bode Magnitude and Interactive Bode Phase graphs.
- Gain—Specifies the gain the step uses in the feedback loop.
- Controller zeros—Defines the array of zeros of the model. The zeros can be real or complex. If they are complex, they must be in complex conjugate pairs. The step automatically calculates the complex conjugate pairs when you enter the real and imaginary parts followed by the symbol, i. For example, if you type –1 + 0.5i, the step generates the complex conjugate –1 ± 0.5i, which is equivalent to (–1 + 0.5i) * (–1 – 0.5i).
- Controller poles—Defines the array of poles of the model. The poles can be real or complex. If they are complex, they must be in complex conjugate pairs. The step automatically calculates the complex conjugate pairs when you enter the real and imaginary parts followed by the symbol, i. For example, if you type –1 + 0.5i, the step generates the complex conjugate –1 ± 0.5i, which is equivalent to (–1 + 0.5i) * (–1 – 0.5i).
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