It's easy! Use simulink with optimization toolbox (or fminsearch) together. If you have the optimization toolbox type open runtracklsq in command prompt and run it. Or see this http://www.mathworks.com/help/toolbox/optim/ug/brn4noo.html#f11160 And use fminsearch instead of slqnonlin .
integral square error
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i want to optimize dual controller through ISE in simulink
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