function [J] = optPendControl(xx) %% parametry g = 9.81; M = 0.2; l = 0.4; Beta = 0.02; %Control params (to opt): K = [xx(1) xx(2)]; %% Sim start opt = simset('SrcWorkspace','current','DstWorkspace','current'); out = sim('wahModelSS.slx',[0 20],opt) t = out.x.time y1 = out.x.signals(1).values; % model data %% Optim goal try si = stepinfo(y1,t) J = si.RiseTime; catch J = 10e260000 end %% Plot data figure(1) plot(t,y1) xlabel('t'); legend('Theta')