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%% Step Disturbance Rejection with Custom Reference Model % Create a requirement that specifies the step disturbance response as a % transfer function. %% % Suppose you want the response to a disturbance injected at an analysis % point |d| in your control system and measured at a point |'y'| to be % rejected at least as well as the transfer function %% % $$H\left( s \right) = \frac{s}{{{s^2} + 2s + 1}}.$$ % %% % Create a |TuningGoal.StepRejection| requirement. H = tf([1 0],[1 2 1]); Req = TuningGoal.StepRejection('d','y',H); %% % Display the requirement. viewSpec(Req) %% % The plot displayed by |viewSpec| shows the step response of the specified % transfer function. This response is the target time-domain response to % disturbance.