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    %% Programmatically Initializing the Control System Designer
% This example shows how to configure Control System Designer from the
% command line and how to create functions to customize the startup of a
% Control System Designer session.
%
% Copyright 1986-2012 The MathWorks, Inc.

%% Control System Designer Configurations
% Control System Designer has six available feedback control system
% configurations:
%
% 1) Standard feedback loop with the compensator in the forward path and a
% prefilter.
%
% 2) Standard feedback loop with the compensator in the feedback path and a
% prefilter.
% 
% 3) Feedforward compensation and a feedback loop with a compensator in the
% forward path. This configuration is often used to attenuate disturbances
% that can be measured before they act on the system.
% 
% 4) Nested multiloop design configuration. This configuration provides the
% ability to separate the design into steps by isolating portions of the
% control loops.
%
% 5) The standard Internal Model Control (IMC) structure. 
%
% 6) Cascaded multiloop design configuration. This configuration provides the
% ability to separate the design into steps by isolating portions of the
% control loops.
%
% <<../sisoinitconfig.png>>
%

%% 
% By default, Control System Designer is initialized with configuration 1.
% You can change this within the app. Alternatively, you can initialize
% Control System Designer from command line.

%% Initialize Control System Designer
% For this example, create a design initialization structure with the
% following settings:
%%
% * Feedback configuration 4
% * Plant |G| with a value of tf(1,[1,1])
% * Root locus and bode editors for the outer open-loop 
% * Nichols editor for the inner open-loop 

%%
% Create a design initialization structure for configuration 4 using the
% |sisoinit| command.
s = sisoinit(4)

%%
% In the initialization structure, |s|, the system model components are:
%
% * Outer-loop compensator - |C1|
% * Inner-loop compensator - |C2|
% * Plant dynamics - |G|
% * Sensor dynamics - |H|
%%
% The loop editor configurations for the system are:
%
% * Outer loop - OL1
% * Inner loop - OL2
%

%%
% Specify the value of the plant.
s.G.Value = tf(1,[1,1]);

%%
% Specify the editors to use for each open loop andmeaningful loop names.
s.OL1.Name = 'Outer Loop';
s.OL1.View = {'rlocus','bode'};
s.OL2.Name = 'Inner Loop';
s.OL2.View = {'nichols'};

%%
% Open Control System Designer using the initialization structure.
%
%  controlSystemDesigner(s)
%

%%
% <<../sisoinitControlSystemDesigner.png>>


%% Create Custom Initialization Function
%
% Creating a custom initialization function is useful to start Control
% System Designer in a configuration that you used often. For example, the
% following initialization function creates an initialization structure
% using specified plant dynamics.

%%
%
% <include>mycustomcontrolsysdesignerfcn.m</include>
%

%%
% To pen Control System Designer using this function, enter:
%
%  mycustomcontrolsysdesignerfcn(G)
%