% Chapter 12: Figure 12.38
%
%   Step response for the PID compensated temperature controller
%   for K=5.
%
Ks=118; 
a=16; b=70;
K=5;
K3=Ks-2, K1=a*(2+K3)-1, K2=b*(2+K3)
numgc=K*[K3 K1 K2]; dengc=[1 0]; sysgc=tf(numgc,dengc);
numg=[1]; deng=[1 2 1]; sysg=tf(numg,deng);
%
syso=series(sysgc,sysg);
%
sys=feedback(syso,[1]);
step(sys)