Simulink® Control Design

Release Notes
 Contents

Summary by Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Version 2.1 (R2007a) Simulink Control Design . . . . . . . . 4

Version 2.0.1 (R2006b) Simulink Control Design . . . . . . 6

Version 2.0 (R2006a) Simulink Control Design . . . . . . . . 7

Version 1.3 (R14SP3) Simulink Control Design . . . . . . . 9

Version 1.2 (R14SP2) Simulink Control Design . . . . . . . 11

Version 1.1 (R14SP1) Simulink Control Design . . . . . . . 13

Version 1.0 (R14) Simulink Control Design . . . . . . . . . . . 14

Compatibility Summary for Simulink Control

Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

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 Simulink® Control Design Release Notes

Summary by Version
This table provides quick access to what’s new in each version. For
clarification, see “About Release Notes” on page 1.

Version New Features Version Fixed Bugs Related

(Release) and Changes Compatibility and Known Documentation
Considerations Problems at Web Site
Latest Version Yes No Bug Reports Printable Release
V2.1 (R2007a) Details Includes fixes Notes: PDF
Current product
documentation
V2.0.1 (R2006b) Yes No Bug Reports No
Details Includes fixes
V2.0 (R2006a) Yes No Bug Reports No
Details Includes fixes
V1.3 (R14SP3) Yes No Bug Reports No
Details Includes fixes
V1.2 (R14SP2) Yes No Bug Reports No
Details Includes fixes
V1.1 (R14SP1) No No Fixed bugs No
V1.0 (R14) Yes No No bug fixes No
Details

About Release Notes

Use release notes when upgrading to a newer version to learn about new
features and changes, and the potential impact on your existing files and
practices. Release notes are also beneficial if you use or support multiple
versions.

If you are not upgrading from the most recent previous version, review release
notes for all interim versions, not just for the version you are installing. For
example, when upgrading from V1.0 to V1.2, review the New Features and
Changes, Version Compatibility Considerations, and Bug Reports for V1.1
and V1.2.

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 Simulink® Control Design Release Notes

New Features and Changes

These include

• New functionality
• Changes to existing functionality
• Changes to system requirements (complete system requirements for the
current version are at the MathWorks Web site)
• Any version compatibility considerations associated with each new feature
or change

Version Compatibility Considerations

When a new feature or change introduces a known incompatibility between
versions, its description includes a Compatibility Considerations
subsection that details the impact. For a list of all new features and changes
that have compatibility impact, see the “Compatibility Summary for Simulink
Control Design” on page 16.

Compatibility issues that become known after the product has been released
are added to Bug Reports at the MathWorks Web site. Because bug fixes can
sometimes result in incompatibilities, also review fixed bugs in Bug Reports
for any compatibility impact.

Fixed Bugs and Known Problems

MathWorks Bug Reports is a user-searchable database of known problems,
workarounds, and fixes. The MathWorks updates the Bug Reports database
as new problems and resolutions become known, so check it as needed for
the latest information.

Access Bug Reports at the MathWorks Web site using your MathWorks
Account. If you are not logged in to your MathWorks Account when you link
to Bug Reports, you are prompted to log in or create an account. You then can
view bug fixes and known problems for R14SP2 and more recent releases.

The Bug Reports database was introduced for R14SP2 and does not include
information for prior releases. You can access a list of bug fixes made in prior
versions via the links in the summary table.

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 Summary by Version

Related Documentation at Web Site

Printable Release Notes (PDF). You can print release notes from the PDF
version, located at the MathWorks Web site. The PDF version does not
support links to other documents or to the Web site, such as to Bug Reports.
Use the browser-based version of release notes for access to all information.

Product Documentation. At the MathWorks Web site, you can access

complete product documentation for the current version and some previous
versions, as noted in the summary table.

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 Simulink® Control Design Release Notes

Version 2.1 (R2007a) Simulink Control Design

This table summarizes what’s new in Version 2.1 (R2007a):

New Features and Version Fixed Bugs and Related

Changes Compatibility Known Problems Documentation at
Considerations Web Site
Yes No Bug Reports Printable Release
Details below Includes fixes Notes: PDF
Current product
documentation

New features and changes introduced in this version are

• “Ability to Linearize Using an Operating Point Specified Directly in a

Simulink Model ” on page 4
• “Ability to Capture Linearization Snapshots in GUI” on page 5
• “Ability to Perform Control Design at Snapshots in GUI” on page 5
• “Ability to Retrieve Stored Compensator Designs” on page 5

Ability to Linearize Using an Operating Point

Specified Directly in a Simulink Model
You can use Simulink Control Design to linearize around any operating
point that you specify directly in a Simulink model. This capability allows
you to make changes to a Simulink model and then perform a linearization
around the newly specified operating point with the click of a single button.
Previously, this same task required two steps: creating a new operating point
and then linearizing around this operating point.

There are two ways to linearize around an operating point specified directly
in the Simulink model:

• From the Controls and Estimation Tools Manager, as described in

“Linearizing at a Simulink Model Operating Point” in the Simulink Control
Design User’s Guide.

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 Version 2.1 (R2007a) Simulink Control Design

• Using linearize. For more information, see linearize in the reference

pages.

Ability to Capture Linearization Snapshots in GUI

You can use the Controls and Estimation Tools Manager to linearize at
snapshots of your Simulink model operating point at the following simulation
points:

• Specified simulation times, such as when the simulation reaches a steady

state solution, as described in “Linearizing at Specified Simulation Times”
in the Simulink Control Design User’s Guide.
• Events during a specified simulation interval, as described in “Linearizing
at Simulation Events” in the Simulink Control Design User’s Guide.

As in prior releases, you can use linearize to perform linearization at

snapshots in your model operating point, as described in linearize in the
reference pages.

Ability to Perform Control Design at Snapshots in GUI

You can use the Controls and Estimation Tools Manager to perform control
design at snapshots of your Simulink model operating point at the following
simulation points:

• Specified simulation times, such as when the simulation reaches a steady

state solution, as described in “Selecting an Operating Point” in Getting
Started with Simulink Control Design.
• Events during a specified simulation interval, as described in “Selecting an
Operating Point” in Getting Started with Simulink Control Design.

Ability to Retrieve Stored Compensator Designs

When you design a compensator using the SISO design tool, you can store
the current design and then continue making changes to this design. A new
button called Retrieve Design lets you retrieve the stored design at any time
by undoing the design changes you made since you last stored the design. For
more information on retrieving stored compensator designs, see “Storing and
Retrieving Designs” in Getting Started with Simulink Control Design.

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 Simulink® Control Design Release Notes

Version 2.0.1 (R2006b) Simulink Control Design

This table summarizes what’s new in Version 2.0.1 (R2006b):

New Features and Version Fixed Bugs and Related

Changes Compatibility Known Problems Documentation at
Considerations Web Site
Yes No Bug Reports No
Details below Includes fixes

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 Version 2.0 (R2006a) Simulink Control Design

Version 2.0 (R2006a) Simulink Control Design

This table summarizes what’s new in Version 2.0 (R2006a):

New Features and Version Fixed Bugs and Related

Changes Compatibility Known Problems Documentation at
Considerations Web Site
Yes No Bug Reports No
Details below Includes fixes

New features and changes introduced in this version are

Compensator Design in Simulink Is Now Supported

This release provides new tools to streamline the workflow for designing
Single-Input Single-Output (SISO) control loops directly in Simulink. In
previous releases, designing a compensator was a multistep process that
involved several tools.

The new tools support any linearizable control architecture, such as

single loops, multiple loops, and cascaded loops. With the new tools, you
simply select the blocks you want to tune. Then, Simulink Control Design
automatically analyzes your model to identify the relevant control loops
and opens a preconfigured session of the SISO Design Tool (in the Control
System Toolbox). For more information, see “Designing Compensators” in the
Simulink Control Design Getting Started Guide.

Supported tunable SISO Simulink blocks include Gain, Transfer Function,

Zero-Pole-Gain, State-Space, and PID blocks.

In the SISO Design Tool you can

• Graphically tune multiple SISO loops in a single GUI.

• Gain visual insight into loop interactions and coupling effects.
• Focus the analysis on a specific loop in a multiloop design by removing
the effect of other feedback loops.

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 Simulink® Control Design Release Notes

• Generate first-cut compensator designs using systematic design algorithms,

such as Ziegler-Nichols PID tuning, IMC design, or LQG design.
• Optimize linear responses to meet time and frequency-based design
constraints (requires Simulink Response Optimization).
• Directly tune Simulink block parameters, such as PID gains, zero-pole-gain
representations, and masked blocks.
• Tune continuous or discrete control loops.
• Examine the closed-loop response of any portion of a model.

After a design is completed, you can write the tuned parameter values back to
your Simulink model for verification with the full nonlinear system.

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 Version 1.3 (R14SP3) Simulink Control Design

Version 1.3 (R14SP3) Simulink Control Design

This table summarizes what’s new in Version 1.3 (R14SP3):

New Features and Version Fixed Bugs and Related

Changes Compatibility Known Problems Documentation at
Considerations Web Site
Yes No Bug Reports No
Details below Includes fixes

New features and changes introduced in this version are

• “Control and Estimation Tools Manager Enhanced” on page 9

• “Support for Operating Point Search and Linearization of Models with
Model Reference Blocks” on page 9

Control and Estimation Tools Manager Enhanced

You can copy and edit operating points within the Control and Estimation
Tools Manager. For more information on this feature, see “Copying Operating
Points” in the Simulink Control Design User’s Guide.

You can initialize a Simulink model for simulation using operating points
from within the Control and Estimation Tools Manager. For more information
on this feature, see the example in “Comparing the Linearized and Original
Models” in the Simulink Control Design User’s Guide.

Support for Operating Point Search and Linearization

of Models with Model Reference Blocks
You can linearize and compute operating points for models that reference
other models using the Model block. Linearization of model reference models
must use the numerical perturbation linearization algorithm. This algorithm
accepts state and input perturbation values in the form of an operating
point object. For more information on this feature, see the examples in
“Example: Command-Line Numerical Perturbation Linearization of a Model
Reference Model” and “Example: Using the Graphical Interface for Numerical

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 Simulink® Control Design Release Notes

Perturbation Linearization of a Model Reference Model” in the Simulink

Control Design User’s Guide..

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 Version 1.2 (R14SP2) Simulink Control Design

Version 1.2 (R14SP2) Simulink Control Design

This table summarizes what’s new in Version 1.2 (R14SP2):

New Features and Version Fixed Bugs and Related

Changes Compatibility Known Problems Documentation at
Considerations Web Site
Yes No Bug Reports No
Details below Includes fixes

New features and changes introduced in this version are

• “Context-Sensitive Help Added” on page 11

• “View Linearizations in the Control and Estimation Tools Manager” on
page 11
• “Discretization Methods Added” on page 12
• “List of Blocks with Preprogrammed Analytic Jacobians Added” on page 12
• “Block Name Readability Improved” on page 12

Context-Sensitive Help Added

Access context-sensitive help for the Linearization, Operating Point Search,
and Linearization State Ordering Options window of the Control and
Estimation Tools Manager. To access help on a field within the options
window, right-click the option’s label and select What’s this? from the context
menu. Help for the option will appear in this window.

View Linearizations in the Control and Estimation

Tools Manager
You can view state space, transfer function, and zero-pole gain representations
of linearized models within the Control and Estimation Tools Manager
without exporting to the workspace. These linearized models appear in the
linearization summary pane of the Control and Estimation Tools Manager.

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 Simulink® Control Design Release Notes

Discretization Methods Added

You can select from three different discretization methods for linearization of
multirate and hybrid models.

List of Blocks with Preprogrammed Analytic

Jacobians Added
You can view a complete list of Simulink blocks indicating which blocks have
preprogrammed analytic Jacobians for use with the block-by-block analytic
linearization algorithm. This list is in the “Individual Block Linearization
Methods” section of the Simulink Control Design documentation.

Block Name Readability Improved

You can use either truncated block names or full block names in the state
space matrices of a linearized model, and within the LTI Viewer, to improve
readability.

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 Version 1.1 (R14SP1) Simulink Control Design

Version 1.1 (R14SP1) Simulink Control Design

This table summarizes what’s new in Version 1.1 (R14SP1):

New Features and Version Fixed Bugs and Related

Changes Compatibility Known Problems Documentation at
Considerations Web Site
No No Fixed bugs No

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 Simulink® Control Design Release Notes

Version 1.0 (R14) Simulink Control Design

This table summarizes what’s new in Version 1.0 (R14):

New Features and Version Fixed Bugs and Related

Changes Compatibility Known Problems Documentation at
Considerations Web Site
Yes No No bug fixes No
Details below

New features and changes introduced in this version are

About Simulink Control Design

Simulink Control Design provides tools for the linearization of control
systems and physical models in Simulink. A graphical user interface (GUI)
simplifies the tasks of specifying operating conditions, linearizing the model,
and analyzing the results. Linearized Simulink models often facilitate system
analysis and compensator design. This is useful in many industries and
applications, including

• Aerospace: flight control, guidance, navigation

• Automotive: cruise control, emissions control, transmission
• Equipment manufacturing: motors, disk drives, servos

Simulink Control Design improves upon previous Simulink linearization

tools by providing more options for computing operating conditions, allowing
open loop analysis without the removal of feedback loops, and including a
linearization inspector and debugger. Linearization projects are easier to
manage with the new Control and Estimation Tools Manager. Furthermore,
Control System Toolbox features, such as the LTI Viewer, are integrated with
the Control Designer to improve control system analysis and design.

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 Version 1.0 (R14) Simulink Control Design

Key Features Introduced

Key features of Simulink Control Design include the ability to

• Specify linearization input, output, and open loop analysis points using
right-click menus
• Perform open loop analysis without deleting feedback loops
• Extract operating conditions from a simulation
• Compute operating conditions by optimization (trimming)
• Create output constraints for trim analysis
• Linearize individual blocks using context menus
• Inspect and debug results of the linearization
• Identify blocks in a model that contribute to a linearization
• Export results to the MATLAB workspace
• Manage linearization projects, compute operating conditions, and perform
linearization with a graphical user interface (GUI)
• Use improved functions at the command line for linearization and trim
analysis

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 Simulink® Control Design Release Notes

Compatibility Summary for Simulink Control Design

This table summarizes new features and changes that might cause
incompatibilities when you upgrade from an earlier version, or when you
use files on multiple versions. Details are provided in the description of the
new feature or change.

Version (Release) New Features and Changes with

Version Compatibility Impact
Latest Version None
V2.1 (R2007a)
V2.0.1 (R2006b) None
V2.0 (R2006a) None
V1.3 (R14SP3) None

V1.2 (R14SP2) None

V1.1 (R14SP1) None
V1.0 (R14) None

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