Analyze responses of a control system by using `getIOTransfer` to
compute responses between various inputs and outputs of a closed-loop
model of the system.

Consider the following control system.

Create a `genss` model of the system
by specifying and connecting the numeric plant models `G1` and `G2`,
the tunable controllers `C1`, and the `loopswitch` blocks `X1` and `X2` that
mark potential loop-opening or signal injection sites.

G1 = tf(10,[1 10]);
G2 = tf([1 2],[1 0.2 10]);
C1 = ltiblock.pid('C','pi');
C2 = ltiblock.gain('G',1);
X1 = loopswitch('X1');
X2 = loopswitch('X2');
T = feedback(G1*feedback(G2*C2,X2)*C1,X1);
T.InputName = 'r';
T.OutputName = 'y';

If you tuned the free parameters of this model (for example,
using the Robust Control Toolbox™ tuning command `systune`),
you might want to analyze the tuned system performance by examining
various system responses.

For example, examine the response at the output, *y*,
to a disturbance injected at the point *d*_{1}.

H1 = getIOTransfer(T,'X1','y');

`H1` represents the closed-loop response of
the control system to a disturbance injected at the implicit input
associated with the `loopswitch` block `X1`,
which is the location of *d*_{1}:

`H1` is a `genss` model that
includes the tunable blocks of `T`. If you have tuned
the free parameters of `T`, `H1` allows
you to validate the disturbance response of your tuned system. For
example, you can use analysis commands such as `bodeplot` or `stepplot` to
analyze `H1`. You can also use `getValue` to
obtain the current value of `H1`, in which all the
tunable blocks are evaluated to their current numeric values.

Similarly, examine the response at the output to a disturbance
injected at the point *d*_{2}.

H2 = getIOTransfer(T,'X2','y');

You can also generate a two-input, one-output model representing
the response of the control system to simultaneous disturbances at
both *d*_{1} and *d*_{2}.
To do so, provide `getIOTransfer` with a cell array
that specifies the multiple input locations.

H = getIOTransfer(T,{'X1','X2'},'y');