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T=.2;Wn=1;Zi=.5;t = 0:.1:20;r0=.2;ramp=r0*t;num = Wn^2;den = [1 2*Zi*Wn Wn^2];sys = tf(num,den);step(sys)sysd = c2d(sys,T,'tustin');hold onstep(sysd)gridfigure(2)lsim(num,den,ramp,t)grid