Owning Palette: Model Interconnection VIs
Requires: Control Design and Simulation Module
Calculates the sensitivity transfer functions necessary to evaluate a closedloop system. Wire data to the Plant Model (P) and Controller Model (C) inputs to determine the polymorphic instance to use or manually select the instance.
Use the pulldown menu to select an instance of this VI.
Note Select this instance if both Plant Model (P) and Controller Model (C) are statespace models. 
Plant Model (P) specifies the model to use as the plant (P) in calculating the sensitivity functions.  
Controller Model (C) specifies the initial system controller (C) to use in calculating the sensitivity functions.  
Tolerance specifies the threshold this VI uses to determine modes to eliminate. For statespace models, Tolerance specifies the controllability and observability thresholds. For transfer function and zeropolegain models, Tolerance also specifies zeropole cancellation closeness. The default is 2.23E–14.  
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.  
Feedback Connection defines the feedback sign this VI uses in calculating the Sensitivity (S) function. If Feedback Connection is positive (TRUE), all feedback connections are positive. If Feedback Connection is negative (FALSE), all feedback connections are negative. The default is negative (FALSE).  
Loop (L) returns the loop (L) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in series and simplified using the minimum order possible. This VI calculates Loop (L) according to the formula: L=PC 

Sensitivity (S) returns the sensitivity (S) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in feedback configuration and simplified using the minimum order possible. This VI calculates Sensitivity (S) according to the formula: S=1/(1+PC) 

Complementary Sensitivity (T) returns the complementary sensitivity (T) transfer function. This VI calculates Complementary Sensitivity (T) according to the formula:
T=PC/(1+PC) 

Output Noise Sensitivity (T) returns the model equivalent to the sensitivity of noise to the output of the system. This VI calculates Output Noise Sensitivity (T) according to the formula: CC=PC/(1+PC) 

Load Sensitivity (PS) returns the noise sensitivity (PS) transfer function. This VI calculates Load Sensitivity (PS) according to the formula:
PS=P/(1+PC) 

error out contains error information. This output provides standard error out functionality.  
Controller Noise Sensitivity (CS) returns the noise sensitivity (CS) transfer function. This VI calculates Controller Noise Sensitivity (CS) according to the formula:
CS=C/(1+PC) This equation also represents the model between the control output U(S) and the reference (R(s)). 
Note Select this instance if Plant Model (P) is a statespace model and Controller Model (C) is a transfer function model. 
Plant Model (P) specifies the model to use as the plant (P) in calculating the sensitivity functions.  
Controller Model (C) specifies the initial system controller (C) to use in calculating the sensitivity functions.  
Tolerance specifies the threshold this VI uses to determine modes to eliminate. For statespace models, Tolerance specifies the controllability and observability thresholds. For transfer function and zeropolegain models, Tolerance also specifies zeropole cancellation closeness. The default is 2.23E–14.  
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.  
Feedback Connection defines the feedback sign this VI uses in calculating the Sensitivity (S) function. If Feedback Connection is positive (TRUE), all feedback connections are positive. If Feedback Connection is negative (FALSE), all feedback connections are negative. The default is negative (FALSE).  
Loop (L) returns the loop (L) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in series and simplified using the minimum order possible. This VI calculates Loop (L) according to the formula: L=PC 

Sensitivity (S) returns the sensitivity (S) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in feedback configuration and simplified using the minimum order possible. This VI calculates Sensitivity (S) according to the formula: S=1/(1+PC) 

Complementary Sensitivity (T) returns the complementary sensitivity (T) transfer function. This VI calculates Complementary Sensitivity (T) according to the formula:
T=PC/(1+PC) 

Output Noise Sensitivity (T) returns the model equivalent to the sensitivity of noise to the output of the system. This VI calculates Output Noise Sensitivity (T) according to the formula: CC=PC/(1+PC) 

Load Sensitivity (PS) returns the noise sensitivity (PS) transfer function. This VI calculates Load Sensitivity (PS) according to the formula:
PS=P/(1+PC) 

error out contains error information. This output provides standard error out functionality.  
Controller Noise Sensitivity (CS) returns the noise sensitivity (CS) transfer function. This VI calculates Controller Noise Sensitivity (CS) according to the formula:
CS=C/(1+PC) This equation also represents the model between the control output U(S) and the reference (R(s)). 
Note Select this instance if Plant Model (P) is a statespace model and Controller Model (C) is a zeropolegain model. 
Plant Model (P) specifies the model to use as the plant (P) in calculating the sensitivity functions.  
Controller Model (C) specifies the initial system controller (C) to use in calculating the sensitivity functions.  
Tolerance specifies the threshold this VI uses to determine modes to eliminate. For statespace models, Tolerance specifies the controllability and observability thresholds. For transfer function and zeropolegain models, Tolerance also specifies zeropole cancellation closeness. The default is 2.23E–14.  
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.  
Feedback Connection defines the feedback sign this VI uses in calculating the Sensitivity (S) function. If Feedback Connection is positive (TRUE), all feedback connections are positive. If Feedback Connection is negative (FALSE), all feedback connections are negative. The default is negative (FALSE).  
Loop (L) returns the loop (L) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in series and simplified using the minimum order possible. This VI calculates Loop (L) according to the formula: L=PC 

Sensitivity (S) returns the sensitivity (S) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in feedback configuration and simplified using the minimum order possible. This VI calculates Sensitivity (S) according to the formula: S=1/(1+PC) 

Complementary Sensitivity (T) returns the complementary sensitivity (T) transfer function. This VI calculates Complementary Sensitivity (T) according to the formula:
T=PC/(1+PC) 

Output Noise Sensitivity (T) returns the model equivalent to the sensitivity of noise to the output of the system. This VI calculates Output Noise Sensitivity (T) according to the formula: CC=PC/(1+PC) 

Load Sensitivity (PS) returns the noise sensitivity (PS) transfer function. This VI calculates Load Sensitivity (PS) according to the formula:
PS=P/(1+PC) 

error out contains error information. This output provides standard error out functionality.  
Controller Noise Sensitivity (CS) returns the noise sensitivity (CS) transfer function. This VI calculates Controller Noise Sensitivity (CS) according to the formula:
CS=C/(1+PC) This equation also represents the model between the control output U(S) and the reference (R(s)). 
Note Select this instance if Plant Model (P) is a transfer function model and Controller Model (C) is a statespace model. 
Plant Model (P) specifies the model to use as the plant (P) in calculating the sensitivity functions.  
Controller Model (C) specifies the initial system controller (C) to use in calculating the sensitivity functions.  
Tolerance specifies the threshold this VI uses to determine modes to eliminate. For statespace models, Tolerance specifies the controllability and observability thresholds. For transfer function and zeropolegain models, Tolerance also specifies zeropole cancellation closeness. The default is 2.23E–14.  
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.  
Feedback Connection defines the feedback sign this VI uses in calculating the Sensitivity (S) function. If Feedback Connection is positive (TRUE), all feedback connections are positive. If Feedback Connection is negative (FALSE), all feedback connections are negative. The default is negative (FALSE).  
Loop (L) returns the loop (L) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in series and simplified using the minimum order possible. This VI calculates Loop (L) according to the formula: L=PC 

Sensitivity (S) returns the sensitivity (S) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in feedback configuration and simplified using the minimum order possible. This VI calculates Sensitivity (S) according to the formula: S=1/(1+PC) 

Complementary Sensitivity (T) returns the complementary sensitivity (T) transfer function. This VI calculates Complementary Sensitivity (T) according to the formula:
T=PC/(1+PC) 

Output Noise Sensitivity (T) returns the model equivalent to the sensitivity of noise to the output of the system. This VI calculates Output Noise Sensitivity (T) according to the formula: CC=PC/(1+PC) 

Load Sensitivity (PS) returns the noise sensitivity (PS) transfer function. This VI calculates Load Sensitivity (PS) according to the formula:
PS=P/(1+PC) 

error out contains error information. This output provides standard error out functionality.  
Controller Noise Sensitivity (CS) returns the noise sensitivity (CS) transfer function. This VI calculates Controller Noise Sensitivity (CS) according to the formula:
CS=C/(1+PC) This equation also represents the model between the control output U(S) and the reference (R(s)). 
Note Select this instance if both Plant Model (P) and Controller Model (C) are transfer function models. 
Plant Model (P) specifies the model to use as the plant (P) in calculating the sensitivity functions.  
Controller Model (C) specifies the initial system controller (C) to use in calculating the sensitivity functions.  
Tolerance specifies the threshold this VI uses to determine modes to eliminate. For statespace models, Tolerance specifies the controllability and observability thresholds. For transfer function and zeropolegain models, Tolerance also specifies zeropole cancellation closeness. The default is 2.23E–14.  
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.  
Feedback Connection defines the feedback sign this VI uses in calculating the Sensitivity (S) function. If Feedback Connection is positive (TRUE), all feedback connections are positive. If Feedback Connection is negative (FALSE), all feedback connections are negative. The default is negative (FALSE).  
Loop (L) returns the loop (L) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in series and simplified using the minimum order possible. This VI calculates Loop (L) according to the formula: L=PC 

Sensitivity (S) returns the sensitivity (S) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in feedback configuration and simplified using the minimum order possible. This VI calculates Sensitivity (S) according to the formula: S=1/(1+PC) 

Complementary Sensitivity (T) returns the complementary sensitivity (T) transfer function. This VI calculates Complementary Sensitivity (T) according to the formula:
T=PC/(1+PC) 

Output Noise Sensitivity (T) returns the model equivalent to the sensitivity of noise to the output of the system. This VI calculates Output Noise Sensitivity (T) according to the formula: CC=PC/(1+PC) 

Load Sensitivity (PS) returns the noise sensitivity (PS) transfer function. This VI calculates Load Sensitivity (PS) according to the formula:
PS=P/(1+PC) 

error out contains error information. This output provides standard error out functionality.  
Controller Noise Sensitivity (CS) returns the noise sensitivity (CS) transfer function. This VI calculates Controller Noise Sensitivity (CS) according to the formula:
CS=C/(1+PC) This equation also represents the model between the control output U(S) and the reference (R(s)). 
Note Select this instance if Plant Model (P) is a transfer function model and Controller Model (C) is a zeropolegain model. 
Plant Model (P) specifies the model to use as the plant (P) in calculating the sensitivity functions.  
Controller Model (C) specifies the initial system controller (C) to use in calculating the sensitivity functions.  
Tolerance specifies the threshold this VI uses to determine modes to eliminate. For statespace models, Tolerance specifies the controllability and observability thresholds. For transfer function and zeropolegain models, Tolerance also specifies zeropole cancellation closeness. The default is 2.23E–14.  
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.  
Feedback Connection defines the feedback sign this VI uses in calculating the Sensitivity (S) function. If Feedback Connection is positive (TRUE), all feedback connections are positive. If Feedback Connection is negative (FALSE), all feedback connections are negative. The default is negative (FALSE).  
Loop (L) returns the loop (L) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in series and simplified using the minimum order possible. This VI calculates Loop (L) according to the formula: L=PC 

Sensitivity (S) returns the sensitivity (S) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in feedback configuration and simplified using the minimum order possible. This VI calculates Sensitivity (S) according to the formula: S=1/(1+PC) 

Complementary Sensitivity (T) returns the complementary sensitivity (T) transfer function. This VI calculates Complementary Sensitivity (T) according to the formula:
T=PC/(1+PC) 

Output Noise Sensitivity (T) returns the model equivalent to the sensitivity of noise to the output of the system. This VI calculates Output Noise Sensitivity (T) according to the formula: CC=PC/(1+PC) 

Load Sensitivity (PS) returns the noise sensitivity (PS) transfer function. This VI calculates Load Sensitivity (PS) according to the formula:
PS=P/(1+PC) 

error out contains error information. This output provides standard error out functionality.  
Controller Noise Sensitivity (CS) returns the noise sensitivity (CS) transfer function. This VI calculates Controller Noise Sensitivity (CS) according to the formula:
CS=C/(1+PC) This equation also represents the model between the control output U(S) and the reference (R(s)). 
Note Select this instance if Plant Model (P) is a zeropolegain model and Controller Model (C) is a statespace model. 
Plant Model (P) specifies the model to use as the plant (P) in calculating the sensitivity functions.  
Controller Model (C) specifies the initial system controller (C) to use in calculating the sensitivity functions.  
Tolerance specifies the threshold this VI uses to determine modes to eliminate. For statespace models, Tolerance specifies the controllability and observability thresholds. For transfer function and zeropolegain models, Tolerance also specifies zeropole cancellation closeness. The default is 2.23E–14.  
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.  
Feedback Connection defines the feedback sign this VI uses in calculating the Sensitivity (S) function. If Feedback Connection is positive (TRUE), all feedback connections are positive. If Feedback Connection is negative (FALSE), all feedback connections are negative. The default is negative (FALSE).  
Loop (L) returns the loop (L) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in series and simplified using the minimum order possible. This VI calculates Loop (L) according to the formula: L=PC 

Sensitivity (S) returns the sensitivity (S) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in feedback configuration and simplified using the minimum order possible. This VI calculates Sensitivity (S) according to the formula: S=1/(1+PC) 

Complementary Sensitivity (T) returns the complementary sensitivity (T) transfer function. This VI calculates Complementary Sensitivity (T) according to the formula:
T=PC/(1+PC) 

Output Noise Sensitivity (T) returns the model equivalent to the sensitivity of noise to the output of the system. This VI calculates Output Noise Sensitivity (T) according to the formula: CC=PC/(1+PC) 

Load Sensitivity (PS) returns the noise sensitivity (PS) transfer function. This VI calculates Load Sensitivity (PS) according to the formula:
PS=P/(1+PC) 

error out contains error information. This output provides standard error out functionality.  
Controller Noise Sensitivity (CS) returns the noise sensitivity (CS) transfer function. This VI calculates Controller Noise Sensitivity (CS) according to the formula:
CS=C/(1+PC) This equation also represents the model between the control output U(S) and the reference (R(s)). 
Note Select this instance if Plant Model (P) is a zeropolegain model and Controller Model (C) is a transfer function model. 
Plant Model (P) specifies the model to use as the plant (P) in calculating the sensitivity functions.  
Controller Model (C) specifies the initial system controller (C) to use in calculating the sensitivity functions.  
Tolerance specifies the threshold this VI uses to determine modes to eliminate. For statespace models, Tolerance specifies the controllability and observability thresholds. For transfer function and zeropolegain models, Tolerance also specifies zeropole cancellation closeness. The default is 2.23E–14.  
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.  
Feedback Connection defines the feedback sign this VI uses in calculating the Sensitivity (S) function. If Feedback Connection is positive (TRUE), all feedback connections are positive. If Feedback Connection is negative (FALSE), all feedback connections are negative. The default is negative (FALSE).  
Loop (L) returns the loop (L) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in series and simplified using the minimum order possible. This VI calculates Loop (L) according to the formula: L=PC 

Sensitivity (S) returns the sensitivity (S) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in feedback configuration and simplified using the minimum order possible. This VI calculates Sensitivity (S) according to the formula: S=1/(1+PC) 

Complementary Sensitivity (T) returns the complementary sensitivity (T) transfer function. This VI calculates Complementary Sensitivity (T) according to the formula:
T=PC/(1+PC) 

Output Noise Sensitivity (T) returns the model equivalent to the sensitivity of noise to the output of the system. This VI calculates Output Noise Sensitivity (T) according to the formula: CC=PC/(1+PC) 

Load Sensitivity (PS) returns the noise sensitivity (PS) transfer function. This VI calculates Load Sensitivity (PS) according to the formula:
PS=P/(1+PC) 

error out contains error information. This output provides standard error out functionality.  
Controller Noise Sensitivity (CS) returns the noise sensitivity (CS) transfer function. This VI calculates Controller Noise Sensitivity (CS) according to the formula:
CS=C/(1+PC) This equation also represents the model between the control output U(S) and the reference (R(s)). 
Note Select this instance if both Plant Model (P) and Controller Model (C) are zeropolegain models. 
Plant Model (P) specifies the model to use as the plant (P) in calculating the sensitivity functions.  
Controller Model (C) specifies the initial system controller (C) to use in calculating the sensitivity functions.  
Tolerance specifies the threshold this VI uses to determine modes to eliminate. For statespace models, Tolerance specifies the controllability and observability thresholds. For transfer function and zeropolegain models, Tolerance also specifies zeropole cancellation closeness. The default is 2.23E–14.  
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.  
Feedback Connection defines the feedback sign this VI uses in calculating the Sensitivity (S) function. If Feedback Connection is positive (TRUE), all feedback connections are positive. If Feedback Connection is negative (FALSE), all feedback connections are negative. The default is negative (FALSE).  
Loop (L) returns the loop (L) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in series and simplified using the minimum order possible. This VI calculates Loop (L) according to the formula: L=PC 

Sensitivity (S) returns the sensitivity (S) transfer function, which represents the Plant Model (P) and Controller Model (C) after they are connected in feedback configuration and simplified using the minimum order possible. This VI calculates Sensitivity (S) according to the formula: S=1/(1+PC) 

Complementary Sensitivity (T) returns the complementary sensitivity (T) transfer function. This VI calculates Complementary Sensitivity (T) according to the formula:
T=PC/(1+PC) 

Output Noise Sensitivity (T) returns the model equivalent to the sensitivity of noise to the output of the system. This VI calculates Output Noise Sensitivity (T) according to the formula: CC=PC/(1+PC) 

Load Sensitivity (PS) returns the noise sensitivity (PS) transfer function. This VI calculates Load Sensitivity (PS) according to the formula:
PS=P/(1+PC) 

error out contains error information. This output provides standard error out functionality.  
Controller Noise Sensitivity (CS) returns the noise sensitivity (CS) transfer function. This VI calculates Controller Noise Sensitivity (CS) according to the formula:
CS=C/(1+PC) This equation also represents the model between the control output U(S) and the reference (R(s)). 