num = [1]

den = [1 0.5 2]

Gp = tf(num, den)

H = [1]

M = feedback(Gp, H)

step(M)

hold on

%%

Kp = 1

Kd = 1

Ki = 1

Gc = pid(Kp, Ki, Kd)

Mc = feedback(Gc*Gp, H)

step(Mc)