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1 Plant Model (SISO)
Plant Resonance Notches
Uncheck to disable auto-notching entirely. Manual notches below are always applied, independent of the toggle.
Manual notches
G(s)
G12(s)
G21(s)
G22(s)
Enter polynomials in s directly (e.g. s^3 + 2*s^2 + s + 5) or as comma-separated coefficients highest-power-first (e.g. 1, 2, 1, 5).
Select the numerator and denominator polynomial orders, then edit the coefficients.
Off-diagonal terms (G12, G21) treated as zero in Bode-data mode
2 Control Method
Auto-detune the design if it would yield a conditionally stable system.
After design, analyze for gain-margin danger zones and offer a scheduled controller.
MIMO only. Pre-multiplies the plant by W = G-1 so each loop sees a diagonal channel. W must be applied as pre-compensation in the implementation.
3 Performance Specifications
Bandwidth target is approximate — used as the open-loop crossover frequency. The achieved closed-loop bandwidth may be lower if the plant has RHP zeros, lightly-damped resonances, or other limitations. After design, check the bandwidth shown in the Performance Metrics card and compare to your target.
Values within +/- tolerance -> approx Close
4 Jitter Attenuation
Negative dB target = required open-loop gain at jitter frequency. e.g. −60 dB means the controller boosts the loop gain by 60 dB at the jitter frequency to attenuate it 1000×.
5 Disturbance Location
Disturbance Channel
Trial-tier note: uses fast single-shot optimization. For hard plants (RHP zeros, lightly-damped resonances, tight specs near the achievable limit), the production tier's multi-start sweep may yield better designs. Compare tiers →
Based on simulation results — run Design Controller first.
6 Discretize (Tustin Transform)
Discretize the continuous controller for digital implementation using the Tustin (bilinear) transform. Choose a sample time Ts and optionally a warp frequency to preserve gain/phase at a critical frequency.
Sample time in seconds. Rule of thumb: Ts ≤ 1/(20·fBW).
Optional. Frequency (Hz) to warp the bilinear transform around — use the controller crossover or a critical resonance to match continuous response there. Set to 0 to disable warping.
Output is the discrete-equivalent transfer function in z plus the time-domain difference equation ready for embedded code.
7 Design Report
Generate a comprehensive design report.
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