Simulink® Control Design™

Linearizing the Model

Performing Linearization

This section continues the example from Inspecting Analysis I/Os. At this stage in the example, a linearization task has been created, operating points have been specified, and linearization points have been inserted.

In this step of the linearization task, you linearize the model using one of the operating points the you created in the project workspace. For information about additional linearization option, see Linearizing Models in the Control and Estimation Tools Manager in the Simulink^® Control Design™ User's Guide.

Click the Operating Points tab in the Linearization Task node to select one or more operating points for the linearization. To linearize the magnetic ball model around the operating point computed from partial specifications, first select the Linearize at one or more of the following operating points option button. Then, select Operating Point in the list, as shown in the following figure.

To compute the linearized model:

1. In the menu to the right of the Linearize Model button, select from one of the nine options for displaying the results of the linearization. Clear the check box next to this menu when you do not want to display the results.

2. Click the Linearize Model button at the bottom of the pane. The linearized model is computed and displayed in the LTI Viewer.

The following figure shows the step response for the linearized magball model.

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Using the LTI Viewer

To add characteristics such as settling time or peak response to your plot, right-click anywhere in the plot area and select an option from the menu. Add data markers by clicking the point you want to mark. In addition, you can display up to six plots at one time. To change the number of plots, select Edit > Plot Configurations. Export the linearized model to the workspace by selecting File > Export. For more information, see LTI Viewer in the Control System Toolbox™ Getting Started Guide.

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Configuring Inputs and Outputs for the Linearized Model

Viewing Linearization Results