t = 0:0.0001:1/180;
kp = 10;
kd = 1.3;
eqn ='0.00072*D3x+0.07206*D2x+(0.7274*kd+0.44244)*Dx+0.7274*kp*x=(0.7274*kd*Dt+0.7274*kp*t)*60*t';
inits = 'x(0)=0,Dx(0)=60,D2x(0)=0,t(0)=0';
x = dsolve(eqn,inits,'t');
z = eval(vectorize(x));
plot(t,z),grid on

sys = tf([8 2 32],[3 6 14 24]).

subplot(2,1,1)
step(sys)    % step response
subplot(2,1,2)
impulse(sys) % impulse response

t = 0:0.01:4;
u = sin(10*t);
lsim(sys,u,t)   % u,t define the input signal