clear
close all

s=tf('s');
% Planta continua
Gpc=1/(1+10*s);
sysc=ss(Gpc);
syslc=feedback(sysc,1);
figure; step(syslc);

spec=stepinfo(syslc);

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

% Planta discreta
Nm=10;
T=tr_sc/Nm;
z=tf('z',T);
Gpd=c2d(Gpc,T);

%   0.1041
% ----------
% z - 0.8959

sysd=ss(Gpd);
Gpdlc=feedback(sysd,1);
hold on
step(Gpdlc)

m=1;
Gcd=(z^(-m)/(1 - z^(-m)))*((z - 0.8959)/(0.1041));

Gcdm=minreal(Gcd);

Glad=Gcdm*Gpd;
syslad=ss(Glad);
Glcd=feedback(syslad,1);
Glcd=feedback(Glad,1);
figure;
step(Glcd)