% function [phi,dphi] = desired(Ts,rise,epsilon)
% Based on transient requirements, 
% calculates closed loop characteristic polynomial
%
function [phi,dphi] = desired(Ts,rise,epsilon)

Nr = rise/Ts; omega = pi/2/Nr; rho = epsilon^(omega/pi); 
phi = [1 -2*rho*cos(omega) rho^2]; dphi = length(phi)-1;