G1=tf(8,[1,4,8]); G2=tf(4*[1,2],[1,4,8]); G3 feedback(Kc*D*G,H) Zero/pole/gain: 19.3137(S+1.172) (S+2.828)(s^2+4s+8) Iy1, tl]=step(Gl)i Ly2, t2]=step(G2)i [y3, t3]=step(G3)i plot(tl, yl, t2, y2, t3, y3),legend('velocity fb', P+D', cascade lead ')title('lead compensation: Comparison of results ') 2022-2-11 232022-2-11 23 G1 = tf(8,[1, 4, 8]); G2 = tf(4*[1, 2],[1, 4, 8]); G3 = feedback(Kc*D*G,H) Zero/pole/gain: 19.3137 (s+1.172) ------------------------ (s+2.828) (s^2 + 4s + 8) [y1,t1]=step(G1); [y2,t2]=step(G2); [y3,t3]=step(G3); plot(t1,y1,t2,y2,t3,y3),legend('Velocity fb' , 'P+D' , 'cascade lead'),title('Lead compensation: Comparison of results')