L =100;
Tdp = 18;
Td = 0.1;
k = eps;
kp = 18;
Ti = 1;
Tip = 5;
d1 = (Tdp-Td)/L;
s = tf('s');
kus = k+(k/(Ti*s))+(k*Td*s);
kos = 2/(s^3+2*s^2+4*s+2);
K1 = zeros(L,1);
Q = zeros(L,1);
for i=1:1:L
kus = k+(k/(Ti*s))+(k*Td*s);
sys=kos*kus/(1+kos*kus);
    [y,t] = step(sys);
    e = 1 - y;
    srednia = mean(e(end-50:end));
    eb = t.*((e - srednia).^2);
    Q(i)= trapz(t,eb);
    K1(i)=Td;
    Td = Td+d;
end
plot(K1,Q);
[min_value,min_index]=min(Q);
disp(K1(min_index));