Specifications

4 Designing Controllers Using the Command Line
4-18
Simulating Controller Performance
Block Diagram of the Two-Model Example shows the Simulink block diagram for this
example. The upper portion simulates the movement of the two masses, plots the signals
as a function of time, and animates the example.
Block Diagram of the Two-Model Example
The lower part contains three key elements:
• A pulse generator that supplies the desired M
1
position (the controller reference
signal). Its output is a square wave varying between –5 and 5 with a frequency of
0.015 per second.