Error using controlSystemDesigner (line 230) The model for "G" must be single input, single output

Hello, I am trying to simulate a control systems transfer function with an added disturbance through matlab, and design a compensator for it ( A pic of the block diagram is attached).

I have used the following code (pic for the code is attached), but when I try to use the controlsystemdesigner toolbox its giving me an error: Error using controlSystemDesigner (line 230) The model for "G" must be single input, single output.

Can someone please explain whats the problem with that? and if so, how can I modify this code to be able to use the ControlSystemDesigner toolbox and be able to design a compensator for it?

Thank you in advanced.

Answer 1

[Walter Roberson]

lsim returns system response, not a "plant"

You would probably want controlSystemDesigner(sys)

[Hamid alrawi]

but this will show me the system without the disturbance, how can I add the disturbance to it?

[Walter Roberson]

I am not sure that is something you would do. You do not want to end up training for one fixed disturbance, and controlSystemDesigner does not appear to have a facility to include a random number generator.