%
% Lista 3 _ Exercício 3
%
% SEM 5928 - Sistemas de Controle 
% Escola de Engenharia de São Carlos - USP
%
% Adriano Siqueira - 2016
%

close all
clear all

k= 0.2;
b= 0.003;

n=[1 10*b 10*k];
d=[1 11*b 11*k 0 0];
G1 = tf(n,d)

n=[10*b 10*k];
G2 = tf(n,d)

figure
step(G1)
hold on
step(G2)

figure
impulse(G1)
hold on
impulse(G2)

t=0:0.05:50;
u=sin(t);
figure
lsim(G1,u,t)
hold on
lsim(G2,u,t)

PD = tf([1 2],1);
sisotool(G2,PD)

a = 1;
c = 20;
n = [1 0 a];
d = [1 2*c c*c];
N = tf(n,d);
figure
bode(N)


sisotool(G2,PD*N)