Nonlinear Control Design Blockset

Controller Pole (Zero) Placement

You can use the Nonlinear Control Design Blockset to design controllers with constraints on the controller's pole or zero locations. Simply use the Zero-pole-gain block or Transfer Fcn block from the Linear library of Simulink and declare the poles tunable as you would any other tunable parameter by using the Tunable Parameters dialog box. Then constrain the poles (zeros) within the complex plane by enforcing lower and upper bounds on the tunable pole (zero) parameters.

Complex pole (zero) pairs can be constrained as two tunable variables in two different ways: (s+a+bj)(s+a-bj) or (s^2+as+b).

The first method produces a repeated parameter problem while the second does not. The first method allows for more obvious constraints to be placed on the real part of controller poles, while the second method allows for more obvious constraints to be placed on controller damping.

Simultaneous Stabilization

Strong Stabilization