clear
close all

s=tf('s');
t=0:0.0001:5;
r=t;

% Planta
Gp=1080/(s*(s+6)*(s+18));

figure; rlocus(1*Gp)

syslc=feedback(1*Gp,1);
N=syslc.num;
D=syslc.den;
n=N{:,:};
d=D{:,:};
roots([d(1) d(2) d(3) d(4)])
figure; step(syslc);
[ysc,t]=lsim(syslc,r,t);
e_ysc=r-ysc';
figure; plot(t,r,t,ysc,t,e_ysc); 

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Compensador proporcional
Gc=0.5;
Gla=series(Gc,Gp);
Glc1=feedback(Gla,1);
% figure; step(Glc);

[W05,Z05]=damp(Glc1);

Gc=0.2;
Gla=series(Gc,Gp);
Glc2=feedback(Gla,1);

[W02,Z02]=damp(Glc2);

figure; step(Glc1,Glc2);

essv=50/100;
Kv=1/essv;
%Teorema valor final: Kv=Kp*1080/(6*18);
Kp=Kv*6*18/1080;

Gla=Kp*Gp;
Glc=feedback(Gla,1);
N1=Glc.num;
D1=Glc.den;
n1=N1{:,:};
d1=D1{:,:};
roots([d1(1) d1(2) d1(3) d1(4)])

[yc,t]=lsim(Glc,r,t);
e_yc=r-yc';
figure; plot(t,r,t,yc,t,e_yc);
figure; step(Glc); hold on; step(syslc);