clc;

clear all;
s=tf('s');
J=0.01;
b=0.01;
k=0.016;
bo=8.6066e-3;
La=0.01;
Ra=0.05;
KT=0.0232379;

NUM=[0 0 0 (KT*bo)/(J*La)];
DEN=[1 (b/J+Ra/La)
(k/J+((Ra*b)/(J*La))+((KT*KT)/(J*La))) ((k*Ra)/(J*La))];
HS=tf([0.25])
GS=tf(NUM,DEN) %Funcion de Transferencia

Kc=tf([64]);

Kp=76.8;
Ki=84.69;
Kd=17.41;
GC=tf([Kd Kp Ki],[0 1 0])

GS5=series(GS,GC);

GSL5=feedback(GS5,HS)

step(GSL5, 'k')
hold on;

syms 'Kpc';

%criterioRH([1 6 12 8+0.5*Kpc])
clc;
clear all;

NUM=[0 0 5];
DEN=[1 5 5];

HS=tf([0.25]);

Kp=7.3093;
Ki=17;
Kd=0.757;

GS=tf(NUM,DEN);

step(GS,'m')

GC=tf([Kd Kp Ki],[0 1 0]);

GS7=series(GS,GC);

GSL7=feedback(GS7,HS);

step(GSL7, 'm')
hold on;