clear all
close all
s=tf('s');

F1=100/(s-1);% tipo 0
F2=1/(s^2+110*s+1000); %tipo 0

Kf1=dcgain(F1);
Kf2=dcgain(F2);

%Kc=qualunque valore > 0

Kc= 300;

G1=Kc*F1*F2/s;

wb=3/0.3;
wcd=wb*0.63;

Mr=20*log10((1+0.4)/0.9);
mp=60-5*Mr;

[m1,f1]=bode(G1,wcd);
md=4;
xd=1;
taud=xd/wcd;
Rd=((s*taud+1)/(s*taud/md+1))^3;
G2=G1*Rd;

[m2,f2]=bode(G2,wcd);
mi=m2;
% bode((1+s/mi)/(1+s));
xi=35;
taui=xi/wcd;
Ri=((s*taui/mi+1)/(s*taui+1));
G3=G2*Ri;
margin(G3);

C=Kc*Rd*Ri/s;

W=feedback(G3,1);
figure,bode(W);
figure,step(W);

%discretizzazione;