clear
num = conv([1 1999],conv([1 -1375],[1 28.26]));
num = -conv(num,[1 97.79 2.307e6])*248034818.6741;
den = conv([1 17.73],[1 489.2 6.764e4]);
den = conv(den,conv([1 -53.65 4.783e5],[1 -44.6 1.369e6]));
M = max([num den]); % num = num/M; den = den/M;
tau = 0.00087; G = tf(num,den,'ioDelay',tau);
Ts = 1; B = [1 -3]; A = [1 2 -8]; k = 1;
[zk,dzk] = zpowk(k); int = 0;
% 
% Transient specifications
rise = 10; epsilon = 0.1;
t1 = 1; % T1 = 1;
delta = 0; % no internal model of step

% Controller design
[R,S,T,gamma,D1] = ...
  pp_im(B,A,k,Ts,rise,epsilon,t1,delta);
%
% other control blocks
C = 1; D = 1; N_var = 0.1; N1 = 1; D1 = R; R = 1;

% simulation parameters
st = 1.0; % desired change in setpoint
t0 = 0; % simulation start time
tf = 50; % simulation end time