clc; clear
close all

s=tf('s');
% Planta

Gp=4/(s*(s+2));
Gplc=feedback(Gp,1);
figure; rlocus(Gp)


t=0:0.001:8;
figure; step(Gplc,t);

cero=2.9; polo=5.4;
Kc=4.68; T=1/cero; alfa=(1/(T*polo));

%%
Gc=Kc*(s + (1/T))/(s + (1/(alfa*T)));

Gla=Gp*Gc;
Glc1=feedback(Gla,1);

% figure; step(Gplc,Glc1,t)
% legend('no compensado','compensado: alfa 0,537');

%%
alfa=0.2;
Gc=Kc*(s + (1/T))/(s + (1/(alfa*T)));

Gla=Gp*Gc;
Glc2=feedback(Gla,1);

% figure; step(Gplc,Glc,t)
% legend('no compensado','compensado: alfa 0,2');

%%
alfa=0.4;
Gc=Kc*(s + (1/T))/(s + (1/(alfa*T)));

Gla=Gp*Gc;
Glc3=feedback(Gla,1);

% figure; step(Gplc,Glc3,t)
% legend('no compensado','compensado: alfa 0,4');

%%
alfa=0.5;
Gc=Kc*(s + (1/T))/(s + (1/(alfa*T)));

Gla=Gp*Gc;
Glc4=feedback(Gla,1);

% figure; step(Gplc,Glc4,t)
% legend('no compensado','compensado: alfa 0,5');

%%
alfa=0.6;
Gc=Kc*(s + (1/T))/(s + (1/(alfa*T)));

Gla=Gp*Gc;
Glc5=feedback(Gla,1);

% figure; step(Gplc,Glc5,t)
% legend('no compensado','compensado: alfa 0,6');

%%
alfa=0.8;
Gc=Kc*(s + (1/T))/(s + (1/(alfa*T)));

Gla=Gp*Gc;
Glc6=feedback(Gla,1);

% figure; step(Gplc,Glc6,t)
% legend('no compensado','compensado: alfa 0,8');

%%
alfa=0.9;
Gc=Kc*(s + (1/T))/(s + (1/(alfa*T)));

Gla=Gp*Gc;
Glc7=feedback(Gla,1);

% figure; step(Gplc,Glc7,t)
% legend('no compensado','compensado: alfa 0,9');

%%
alfa=1.0;
Gc=Kc*(s + (1/T))/(s + (1/(alfa*T)));

Gla=Gp*Gc;
Glc8=feedback(Gla,1);

figure; step(Glc2,Glc3,Glc5,Glc7,Glc8,t)
legend('alfa 0,2','alfa 0,4','alfa 0,6','alfa 0,9','alfa 1,0');