function F = tracklsq(pid)
s = tf('s');
plant = (1 / (1+2.5*s))*(1/(s*0.0008+0.06));%PLANT FUNCTION
Kp = pid(1);
Ki = pid(2);
cont = (Kp + Ki/s);
%step(feedback(plant*cont,1));
dt = 0.01;
t = 0:dt:1;
e = 1 - step(feedback(plant*cont,1),t);%ITEA
F = sum(t'.*abs(e)*dt);