%Controlador PID Discreto

G = tf(10,[1 20 10])

T0 = 0.005;

Gd =c2d(G,T0)

[p,z]=pzmap(Gd)

%sisotool(Gd)

%break



q0 = 2000; 
z1 = 0.98;
z2 = 0.88;

q1 = -(z1+z2)*q0;
q2 = z1*z2*q0;

KD = q2*T0
KP = -q1 - 2*KD/T0
KI = (q0 - KP -KD/T0)*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 0.8 0 1.2])
grid