// Updated(18-7-07)
// 11.15
// GMVC PID tuning of example given by Miller et al.
// Model

A = [1 -1.95 0.935]; B = -0.015; k = 1; Ts = 1;

// Transient specifications
N = 15; epsilon = 0.1;
T = ch_pol(N,epsilon);

// Controller Design
getf gmvc_pid.sci;
[Kc,tau_i,tau_d,L] = gmvc_pid(A,B,k,T,Ts);
L1 = filtval(L,1);
zk = zpowk(k);