%% 2-DOF PID Controller with Named Inputs and Output
% Create a 2-DOF PID controller, and set the dynamic system properties InputName and OutputName. Naming the inputs and the output is useful, for example, when you interconnect the PID controller with other dynamic system models using the connect command.

C2 = pid2(1,2,3,0,1,1,'InputName',{'r','y'},'OutputName','u')

%
% A 2-DOF PID controller has two inputs and one output. Therefore, the 'InputName' property is an array containing two names, one for each input. The model display does not show the input and output names for the PID controller, but you can examine the property values to see them. For instance, verify the input name of the controller.

C2.InputName

% Copyright 2012 The MathWorks, Inc.