clear
close all
s=tf('s');
Ra=5; La=2;
a=1/La; b=Ra/La;

Gpc=a/(s + b);
Gpclc=feedback(Gpc,1);
spec=stepinfo(Gpclc);

tr_sc=spec.RiseTime;
ts_sc=spec.SettlingTime;
tp_sc=spec.PeakTime;
Mp_sc=spec.Overshoot;

step(Gpclc);

Nr=10;
T=tr_sc/Nr;
z=tf('z',T);

Gpd=c2d(Gpc,T,'zoh');
Gpm=(1-exp(-T/La))/(z - exp(-Ra*T/La));

Gpdlc1=feedback(Gpd,1);
Gpdlc2=feedback(Gpm,1);
hold on; step(Gpdlc1); step(Gpdlc2);
legend('LC tiempo continuo','LC con Gpd ZOH','LC con Gpm')
% axis([0 2.5 0 1])