%% Loop Shape Requirement with Crossover Range
% Create a tuning requirement specifying that the open-loop response of loop identified by 'X' cross unity gain between 50 and 100 rad/s.

Req = TuningGoal.LoopShape('X',[50,100]);

%
% Examine the resulting requirement to see the target loop shape.

viewGoal(Req)

% The plot shows that the requirement specifies an integral loop shape, with crossover around 70 rad/s, the geometrical mean of the range [50,100]. The gap at 0 dB between the minimum low-frequency gain (green region) and the maximum high-frequency gain (red region) reflects the allowed crossover range [50,100].
% Copyright 2012 The MathWorks, Inc.