Disturbance Rejection with PID turner

I'm trying to do a disturbance rejection with PID tuner.I'm trying to do it but it keeps giving error.Could you help me?

G=tf([1],[0.1 1]);
G.InputName='yzad';
G.Output='ys';

yzad={1,10,100}

K={-100,-10,1,5,3}

Sum=sumbkl('++','yzad','ys')
ISAPID=connect('-100','Sum','G')
tf(ISAPID)

You can find my diagram attached .Thanks

Answer 1

[Sam Chak]

Hi @Esin Derin

For simplicity, you can do something straightforward and plot the time responses like this.

Case 1a: , rad/s

% sin(omega*t) = sin((2π*Freq)*t) = sin((2π/τ)*t)
omega = 1;		                    % angular frequency {1, 10, 100} rad/s
tau = 2*pi/omega;                   % time period of a wave
Tf  = 2*tau;		                % wave duration of Tf seconds
[u, t] = gensig("sine", tau, Tf);   % generates a signal where t runs from 0 to Tf seconds
G = tf(1, [0.1 1]);                 % plant transfer function
K = -100;			                % feedback gain {-100, -10, -1, 5, 3}
H = -K;
Gcl = feedback(G, H)                % closed-loop system subjected to a disturbance Y(s)/D(s)

Gcl =
 
       1
  -----------
  0.1 s + 101
 
Continuous-time transfer function.

lsim(Gcl, u, t)
grid on

Case 1b: , rad/s

% sin(omega*t) = sin((2π*Freq)*t) = sin((2π/τ)*t)
omega = 10;		                    % angular frequency {1, 10, 100} rad/s
tau = 2*pi/omega;                   % time period of a wave
Tf  = 2*tau;		                % wave duration of Tf seconds
[u, t] = gensig("sine", tau, Tf);   % generates a signal where t runs from 0 to Tf seconds
G = tf(1, [0.1 1]);                 % plant transfer function
K = -100;			                % feedback gain {-100, -10, -1, 5, 3}
H = -K;
Gcl = feedback(G, H)                % closed-loop system subjected to a disturbance Y(s)/D(s)

Gcl =
 
       1
  -----------
  0.1 s + 101
 
Continuous-time transfer function.

lsim(Gcl, u, t)
grid on

Case 1c: , rad/s

% sin(omega*t) = sin((2π*Freq)*t) = sin((2π/τ)*t)
omega = 100;		                % angular frequency {1, 10, 100} rad/s
tau = 2*pi/omega;                   % time period of a wave
Tf  = 2*tau;		                % wave duration of Tf seconds
[u, t] = gensig("sine", tau, Tf);   % generates a signal where t runs from 0 to Tf seconds
G = tf(1, [0.1 1]);                 % plant transfer function
K = -100;			                % feedback gain {-100, -10, -1, 5, 3}
H = -K;
Gcl = feedback(G, H)                % closed-loop system subjected to a disturbance Y(s)/D(s)

Gcl =
 
       1
  -----------
  0.1 s + 101
 
Continuous-time transfer function.

lsim(Gcl, u, t)
grid on

Case 2a: , rad/s

% sin(omega*t) = sin((2π*Freq)*t) = sin((2π/τ)*t)
omega = 1;		                    % angular frequency {1, 10, 100} rad/s
tau = 2*pi/omega;                   % time period of a wave
Tf  = 2*tau;		                % wave duration of Tf seconds
[u, t] = gensig("sine", tau, Tf);   % generates a signal where t runs from 0 to Tf seconds
G = tf(1, [0.1 1]);                 % plant transfer function
K = -10;			                % feedback gain {-100, -10, -1, 5, 3}
H = -K;
Gcl = feedback(G, H)                % closed-loop system subjected to a disturbance Y(s)/D(s)

Gcl =
 
      1
  ----------
  0.1 s + 11
 
Continuous-time transfer function.

lsim(Gcl, u, t)
grid on

[Esin Derin]

thank you