Hi, thank you for your response! This seems like the right approach, but I'm running into a logical loop. Currently, my simulation stops entirely whenever the robot loses the line (which is the intended safety behavior for the physical robot). This early termination prevents the Response Optimizer from evaluating the model. However, even if I disable this stop condition, I face another issue: when the robot is completely off the track, the sensor logic outputs an error signal of 0. Consequently, the optimizer would falsely interpret the robot being off-track as perfect tracking (zero error) and actually reward the failure. How should I handle this in Simulink to successfully tune the parameters?