If you describe (model) your desired system behavior, you can use an optimization function to find your parameter in order to achieve the desired behavior

My advice is: define a matlab function which takes as input your filter parameters and which returns (through the simulation of your simulink model) the fitness/performance of your system given the output (angle and position). If I understand well your problem, you want to minimise the swing angle + the position error with respect to the target. So you fitness should be something like the sum of the angle and position error (possibly with extra weights to give more emphasis in reaching the target position or minimising the angle). Your fitness function can be different as long as minimising it implies minimising the position error and angle.

Once you have this function, call it with the matlab function ga : https://www.mathworks.com/help/gads/ga.html

If the simulation with simulink is not too time consuming, you should some answer in reasonable amount of time, but you might need to tune a bit the algorithm or your fitness (for example adding more penalty for not reaching the target position) in order to get interesting solutions. If simulation takes too much time, you will have to try another method..

Hope it helps.

All I know is that you modeled your system in Simulink, so if you want to use an optimization method in Matlab you should define the inputs and equations of your optimization methods as the output of your Simulink simulation. In this case, if you want to use GA, first you have to define the fitness function of GA in Matlab script, then needed variables and constraints for your optimization program. It depends on the part that you want your optimization to be run. If your optimization is an in-stage procedure you should use the related blocks in Simulink for defining the inputs of your script.

Dear Benjamin Martin Reza Dariani Hooman Firoozi ,

Thanks for the advice you gave !

I'll deeply research .

Thanks a lot !

Best regards.

In addition to the valuable ideas suggested above; You can do the optimization process by designing an appropriate fitness function rather than optimizing directly through Simulink. There is a base example below.

https://www.mathworks.com/matlabcentral/fileexchange/81333-genetic-algorithm-based-pid-parameter-optimization-for-dc-dc

In addition, the articles I give below will give you an idea about the design of input shapers and optimization.

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Article Tuning of LQR controller for an experimental inverted pendul...

Article A review of command shaping techniques for elimination of re...