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This topic describes time-domain and frequency-domain design
requirements available in **Control System Designer**. Each requirement defines
an exclusion region, indicated by a yellow shaded area. To satisfy a requirement, a
response plot must remain outside of the associated exclusion region.

If you have Simulink^{®}
Design Optimization™ software installed, you can use response optimization techniques to find a
compensator that meets your specified design requirements. For examples of
optimization-based control design using design requirements, see Optimize LTI System to Meet Frequency-Domain Requirements (Simulink Design Optimization) and Design Optimization-Based PID Controller for Linearized Simulink Model (GUI) (Simulink Design Optimization).

For other **Control System Designer** tuning methods, you can use the specified
design requirements as visual guidelines during the tuning process.

You can add design requirements either directly to existing plots or, when using optimization-based tuning, from the Response Optimization dialog box.

You can add design requirements directly to existing:

Bode, root locus, and Nichols editor plots.

Analysis plots:

Root locus plots and pole/zero maps

Bode diagrams

Nichols plots

Step and impulse responses

To add a design requirement to a plot, in **Control System Designer**,
right-click the plot, and select **Design Requirements** > **New**.

In the New Design Requirement dialog box, in the **Design requirement
type** drop-down list, select the type of requirement to add. You can
select any valid requirement for the associated plot type.

In the **Design requirement parameters** section, configure the
requirement properties. Parameters are dependent on the type of requirement you
select.

To create the specified requirement and add it to the plot, click
**OK**.

When using optimization-based tuning, you can add design requirements from the Response Optimization dialog box.

To do so, on the **Design Requirements** tab, click
**Add new design requirement**.

In the New Design Requirement dialog box, select a **Design requirement
type** from the drop-down list.

In the **Requirement for response** drop-down list, specify the
response to which to apply the design requirement. You can select any response in
**Data Browser**.

In the **Design requirement parameters** section, configure the
requirement properties. Parameters are dependent on the type of requirement you
select.

To create the specified design requirement, click **OK**. In
the Response Optimization dialog box, on the **Design
Requirements** tab, the new requirement is added to the table.

The app also adds the design requirement to a corresponding editor or analysis plot. The plot type used depends on the selected design requirement type.

If the requirement is for a Bode, root locus, or Nichols plot and:

A corresponding editor plot is open, the requirement is added to that plot.

Only a corresponding analysis plot is open, the requirement is added to that plot.

No corresponding plot is open, the requirement is added to a new Editor plot.

Otherwise, if the requirement is for a different plot type, the requirement is
added to an appropriate analysis plot. For example, a ```
Step requirement
bound
```

is added to a new step analysis plot.

To edit an existing requirement, in **Control System Designer**, right-click
the corresponding plot, and select **Design Requirements** > **Edit**.

In the Edit Design Requirement dialog box, in the **Design
requirement** drop-down list, select a design requirement to edit. You can
select any existing design requirement from the current plot.

In the **Design requirement parameters** section, specify the
requirement properties. Parameters are dependent on the type of requirement you select.
When you change a parameter, the app automatically updates the requirement display in
the associated plot.

You can also interactively adjust design requirements by dragging the edges or vertices of the shaded exclusion region in the associated plot.

Specifying a settling time for a continuous-time system adds a vertical boundary line to the root locus or pole-zero plot. This line represents pole locations associated with the specified settling time. This boundary is exact for a second-order system with no zeros. For higher order systems, the boundary is an approximation based on second-order dominant systems.

To satisfy this requirement, your system poles must be to the left of the boundary line.

For a discrete-time system, the design requirement boundary is a curved line centered on the origin. In this case, your system poles must be within the boundary line to satisfy the requirement.

Specifying percent overshoot for a continuous-time system adds two rays to the plot that start at the origin. These rays are the locus of poles associated with the specified overshoot value. In the discrete-time case, the design requirement adds two curves originating at (1,0) and meeting on the real axis in the left-hand plane.

The percent overshoot (p.o.) design requirement can be expressed in terms of
the damping ratio, *ζ*:

$$p.o.=100\mathrm{exp}\left(-\frac{\pi \zeta}{\sqrt{1-{\zeta}^{2}}}\right)$$

Specifying a damping ratio for a continuous-time system adds two rays to the plot that start at the origin. These rays are the locus of poles associated with the specified overshoot value. This boundary is exact for a second-order system and, for higher order systems, is an approximation based on second-order dominant systems.

To meet this requirement, your system poles must be to the left of the boundary lines.

For discrete-time systems, the design requirement adds two curves originating at (1,0) and meeting on the real axis in the left-hand plane. In this case, your system poles must be within the boundary curves.

Specifying a natural frequency bound adds a semicircle to the plot that is centered around the origin. The radius of the semicircle equals the natural frequency.

If you specify a natural frequency lower bound, the system poles must remain outside this semicircle. If you specify a natural frequency upper bound, the system poles must remain within this semicircle.

To specify a region constraint, define two or more vertices of a piece-wise linear
boundary line. For each vertex, specify **Real** and
**Imaginary** components. This requirement adds a shaded
exclusion region on one side of the boundary line. To switch the exclusion region to
the opposite side of the boundary, in the response plot, right-click the
requirement, and select **Flip**.

To satisfy this requirement, your system poles must be outside of the exclusion region.

You can specify upper gain limits for both open-loop and closed-loop Bode responses.

A gain limit consists of one or more line segments. For the start and end points
of each segment, specify a frequency, **Freq**, and magnitude,
**Mag**. You can also specify the slope of the line segment in
dB/decade. When you change the slope, the magnitude for the end point
updates.

If you are using optimization-based tuning, you can assign a tuning
**Weight** to each segment to indicate their relative
importance.

In the **Type** drop-down list you can select whether to
constrain the magnitude to be above or below the specified boundary.

You can specify lower gain limits in the same way as upper gain limits.

You can specify a lower bound for the gain margin, the phase margin, or both. The specified bounds appear in text on the Bode magnitude plot.

Gain and phase margin requirements are only applicable to open-loop Bode diagrams.

Specify a minimum phase margin as a positive value. Graphically, **Control
System Designer** displays this requirement as a region of exclusion along
the 0 dB open-loop gain axis.

Specify a minimum gain margin value. Graphically, **Control System
Designer** displays this requirement as a region of exclusion along the -180
degree open-loop phase axis.

Specify a minimum closed-loop peak gain value. The specified dB value can be positive or negative. The design requirement follows the curves of the Nichols plot grid. As a best practice, have the grid on when using a closed-loop peak gain requirement.

To specify a gain-phase design requirement, define two or more vertices of a
piece-wise linear boundary line. For each vertex, specify **Open-Loop
phase** and **Open-Loop gain** values. This
requirement adds a shaded exclusion region on one side of the boundary line. To
switch the exclusion region to the opposite side of the boundary, in the Nichols
plot, right-click the requirement, and select
**Flip**.

When editing a phase margin, gain margin, or closed-loop peak gain requirement,
you can specify the display location as -180 ± *k*360 degrees, where *k* is an integer value.

If you enter an invalid location, the closest valid location is selected. While
displayed graphically at only one location, these requirements apply regardless of
actual phase; that is, they are applied for all values of
*k*.

You can specify upper time response bounds for both step and impulse responses.

A time-response bound consists of one or more line segments. For the start and end
points of each segment, specify a **Time** and
**Amplitude** value. You can also specify the slope of the line
segment. When you change the slope, the amplitude for the end point updates.

If you are using optimization-based tuning, you can assign a tuning
**Weight** to each segment to indicate its relative
importance.

In the **Type** drop-down list, you can select whether to
constrain the response to be above or below the specified boundary.

You can specify lower time response bounds for both step and impulse responses in the same way as upper gain limits.

For a step response plot, you can also specify a step response bound design requirement.

To define a step response bound requirement, specify the following step response parameters:

**Final value**— Final steady-state value**Rise time**— Time required to reach the specified percentage,**% Rise**, of the**Final value****Settling time**— Time at which the response enters and stays within the settling percentage,**% Settling**, of the**Final value****% Overshoot**— Maximum percentage overshoot above the**Final value****% Undershoot**— Maximum percentage undershoot below the**Initial value**

In **Control System Designer**, step response plots always use an
**Initial value** and a **Step time** of
`0`

- Optimize LTI System to Meet Frequency-Domain Requirements (Simulink Design Optimization)
- Design Optimization-Based PID Controller for Linearized Simulink Model (GUI) (Simulink Design Optimization)