>> s=tf('s')

s=

Continuous-time transfer function.

>> sys=tf(0.156, [9436 1])

sys =

0.156

----------

9436 s + 1

Continuous-time transfer function.

>> step(sys)

>> sys1=tf(1334.7, [9436 1])

sys1 =

1335

----------

9436 s + 1

Continuous-time transfer function.

>> sys2=tf(1,1)
sys2 =

Static gain.

>> sys3=tf(7.8, [1179.5 47416.025 9441.025 1])

sys3 =

7.8

------------------------------------

1180 s^3 + 4.742e04 s^2 + 9441 s + 1

Continuous-time transfer function.

>> syss=pid(3.08*10^4,1.11,0.28,0)

syss =

Kp + Ki * --- + Kd * s

with Kp = 3.08e+04, Ki = 1.11, Kd = 0.28

Continuous-time PID controller in parallel form.

>> sysi=pid(2.52*10^4,1.1,0.28,0)

sysi =
 1

Kp + Ki * --- + Kd * s

with Kp = 2.52e+04, Ki = 1.1, Kd = 0.28

Continuous-time PID controller in parallel form.

>> SYSS=sys1/(sys2+sys3*syss)

SYSS =

1.574e06 s^4 + 6.329e07 s^3 + 1.26e07 s^2 + 1335 s

------------------------------------------------------------------------------

1.113e07 s^5 + 4.474e08 s^4 + 8.915e07 s^3 + 2.267e09 s^2 + 3.219e05 s + 8.658

Continuous-time transfer function.

>> SYSI=sys1/(sys2+sys3*sysi)

SYSI =

1.574e06 s^4 + 6.329e07 s^3 + 1.26e07 s^2 + 1335 s

-----------------------------------------------------------------------------

1.113e07 s^5 + 4.474e08 s^4 + 8.915e07 s^3 + 1.855e09 s^2 + 2.775e05 s + 8.58

Continuous-time transfer function.

>> step(SYSS)

>> hold on
>> step(SYSI)

>> syss532=tf(2*2, [2 1])

syss532 =

-------

2s+1

Continuous-time transfer function.

>> syss2=tf([3.08*10^4*1.11*0.28, 3.08*10^4*1.11, 3.08*10^4],[1.11, 0])

syss2 =

9573 s^2 + 34188 s + 30800

--------------------------

1.11 s

Continuous-time transfer function.

>> sysi2=tf([2.52*10^4*1.11*0.28, 2.52*10^4*1.11, 2.52*10^4],[1.11, 0])

sysi2 =

7832 s^2 + 2.797e04 s + 25200

-----------------------------

1.11 s

Continuous-time transfer function.

>> SYSS=sys1/(sys2+sys3*syss2)

SYSS =

1.747e06 s^4 + 7.025e07 s^3 + 1.399e07 s^2 + 1482 s

-------------------------------------------------------------------------------

1.235e07 s^5 + 4.966e08 s^4 + 8.035e08 s^3 + 2.516e09 s^2 + 2.267e09 s + 240240

Continuous-time transfer function.

>> SYSI=sys1/(sys2+sys3*sysi2)

SYSI =

1.747e06 s^4 + 7.025e07 s^3 + 1.399e07 s^2 + 1482 s

-------------------------------------------------------------------------------

1.235e07 s^5 + 4.966e08 s^4 + 6.754e08 s^3 + 2.059e09 s^2 + 1.855e09 s + 196560

Continuous-time transfer function.

>> step(SYSS)

>> hold on

>> step(SYSI)

>> step(SYSS)

>> hold on

>> step(SYSI)