%q1=dlmread('D:\F19\MTE360\Lab1\Lab 1\lab1_q2_0_3.txt')
%q1=dlmread('D:\F19\MTE360\Lab1\Lab 1\lab1_q2_0_6.txt')
q1=dlmread('D:\F19\MTE360\Lab1\Lab 1\lab1_q2_2_1.txt')

%W_n=19.368;
%Z=0.210;

%W_n=27.391;
%Z=0.148;

W_n=51.243;
Z=0.079;

figure(2)
subplot(2,1,1);
plot(q1(:,[1]),q1(:,[2]))
hold on
plot(q1(:,[1]),q1(:,[4]))
xlim([0 4])
ylim([-2 2])
legend({'Measured', 'Command'})
title('Closed Loop Position Step Response Kp=0.6');
ylabel('Position [mm]');
xlabel('Time [s]');

subplot(2,1,2);
plot(q1(:,[1]),q1(:,[3]))
xlim([0 4])
ylim([-5 5])
title('Control');
ylabel('Control [V]');
xlabel('Time [s]');
legend({'Input'})