kp = 10;
kd = 1.3;
kp1 = 5;
pi = 3.14;
y = @(x) (50*pi*x) .* (0<x & x<1/150) +  (pi/3) .* ((1/150<=x) & (x<=3001/150)) + ((3002*pi/3-50*pi*x) .* ((3001/150 <= x) & (x < 1501/75)));%r(t)
x = -1:1/15000:40
sys = tf([0.7274*kd 0.7274*kp],[0.00072 0.07206 0.44244+0.7274*kd 0.7274*kp]);%designed PD control
lsim(sys,y(x),x)%plot of Actual Trajectory with designed control

pi = 3.14
syms s
tf  = ((0.00072*s^3+0.07206*s^2+0.44244*S)/(0.7274))*__Theta(s)__;
h = ilaplace(tf)
t = linspace(0,20,50000);   %500 is number of samples to plot
hfun = matlabFunction(h);
plot(t, hfun(t));
hold on;