%
%Transfer Function of PID Control
clc;
clear;
format compact;
ss_value=180
nat_freq=23.727
damp_ratio=.37332
sys=tf([ss_value*nat_freq^2],[1,2*damp_ratio*nat_freq,nat_freq^2])
[u,v]=step(sys);
plot(v,u),xlabel('Time (millisec)'),ylabel('Position (Degree
%
%Transfer Function of PI Control
clc;
clear;
format compact;
ss_value=180
nat_freq=17.609
damp_ratio=.41807
sys=tf([ss_value*nat_freq^2],[1,2*damp_ratio*nat_freq,nat_freq^2])
[u,v]=step(sys);
plot(v,u),xlabel('Time (millisec)'),ylabel('Position (Degrees