% test problem to demonstrate benefits of 2_dof
% Ts = 1; B = [1 0.9]; A = conv([1 -1],[1 -0.8]); k = 1;
Ts = 1; k = 1;
B = conv([1 0.9],[1 -0.8]); A = conv([1 -1],[1 -0.5]);
% 
% closed loop characteristic polynomial
phi = [1 -1 0.5];

Delta = 1; % Choice of internal model of step
control = 1;
if control == 1, % 1-DOF with no cancellation
   [Rc,Sc] = pp_pid(B,A,k,phi,Delta);
   Tc = Sc; gamma = 1;
else % 2-DOF
   [Rc,Sc,Tc,gamma] = pp_im(B,A,k,phi,Delta);
end
%
% simulation parameters for stb_disc.mdl
[zk,dzk] = zpowk(k);
st = 1; % desired step change
t_init = 0; % simulation start time
t_final = 20; % simulation end time
xInitial = [0 0];
C = 0; D = 1; N_var = 0;
open_system('stb_disc.mdl')