clear all
close all

%%%%%%%%%%%%% Contínuo %%%%%%%%%%%%%%
n = 1;
d = [10 1 0];
Gc = tf(n,d)

nd = 20*[1 0.1];
dd = [1 2];
Cc = tf(nd,dd)

MFc = feedback(Cc*Gc,1);
[yc,tc] = step(MFc,15);

figure
plot(tc,yc,'b')
hold on
grid
% 
% %%%%%%%%%%%%%%  T = 0.2 s %%%%%%%%%%%%%%
% 
% T = 0.2;
% Gd = c2d(Gc,T) %Segurador de Ordem Zero
% 
% Cd = c2d(Cc,T,'matched') %Mapeamento de Polos e Zeros
% 
% MFd = feedback(Cd*Gd,1);
% [yd,td] = step(MFd,15);
% stairs(td,yd,'r')
% 
% 
% %%%%%%%%%%%%%%  T = 1 s %%%%%%%%%%%%%%
% 
% T = 1;
% Gd2 = c2d(Gc,T)
% 
% Cd2 = c2d(Cc,T,'matched')
% 
% MFd2 = feedback(Cd2*Gd2,1);
% [yd2,td2] = step(MFd2,15);
% stairs(td2,yd2,'g')
% 
% 
% %%%%%%%%%%%%%%  T = 1 s - Projeto por Lugar da Raízes %%%%%%%%%%%%%%
% T = 1;
% Gd3 = c2d(Gc,T)
% 
% Cd3 = 10*tf([1 -0.9048],[1 0.4],1)
% 
% MFd3 = feedback(Cd3*Gd3,1);
% [yd3,td3] = step(MFd3,15);
% 
% stairs(td3,yd3,'m')
% legend('contínuo','discreto (T0 = 0.2 s)','discreto (T0 = 1 s)','discreto LR (T0 = 1 s)')
% xlabel('t (s)')
% ylabel('y(t)')