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

F1=+0.1; %tipo 0
F2=(s-20)/(s+10)/s; %tipo 1

Kf1=0.1;
Kf2=dcgain(F2*s);

Kc=-1;

G1=Kc*F1*F2/s;

wb=2.5;
wcd=wb*0.63;
wcd=1.3;

Mr=3.5;
mp=60-5*Mr;


[m1,f1]=bode(G1,wcd);
md=6;
xd=4.5;
taud=xd/wcd;
Rd=((s*taud+1)/(s*taud/md+1))^2;
G2=G1*Rd;

[m2,f2]=bode(G2,wcd);
mi=m2;
%bode((1+s/mi)/(1+s))
xi=23;
taui=xi/wcd;
Ri=(s*taui/mi+1)/(s*taui+1);
G3=G2*Ri;
margin(G3);

C=Ri/s*Kc;

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

%discretizzazione