Kt = 0.00767;
Km = 0.00767;
Rm = 2.6;
Kg = 70;
Beq = 0.004;
Jm = 3.87e-10;
Jl = 2e-3;
etam = 0.69;
etag = 0.9;

Jeq = Jl+etag*Jm*(Kg^2);

num = [(180/pi)*(etag*etam*Kt*Kg)/(Jeq*Rm)];
den = [1  (Beq*Rm+etag*etam*Km*Kt*(Kg^2))/(Jeq*Rm) 0];

G = tf(num,den);

T0 = 0.03

Gd =c2d(G,T0)

sisotool(Gd)

% K = 0.003;
% KI = 0;
% KD = 0;
% 
% 
% q0 = K+KD/T0+KI*T0;
% q1 = -(K+2*KD/T0);
% q2 = KD/T0;
% 
% 
% nPID = [q0 q1 q2];
% dPID = [1 -1 0];
% 
% DPID = tf(nPID,dPID,T0);
% 
% MFd = feedback(DPID*Gd,1);
% [y,t] = step(MFd,5);
% figure;stairs(t,y)
% axis([0 5 0 1.1])
% grid