% Chapter 6: Figure 6.22
%
%   Two-track vehicle turning control ramp response
%   with a=0.6 and K=70.
%
t=[0:0.01:16]; u=t;
numgc=[1 0.6]; dengc=[1 1]; sysgc=tf(numgc,dengc);
numg=[70]; deng=[1 7 10 0]; sysg=tf(numg,deng);
sysa=series(sysgc,sysg);
sys=feedback(sysa,[1]);
[y,T]=lsim(sys,u,t);
plot(T,y,t,u,'--'), grid
xlabel('Time (s)'), ylabel('y(t)')