% Fig. 5.30  Feedback Control of Dynamic Systems, 8e 
%             Franklin, Powell, Emami
%

clf 

s=tf('s');

sysG=2500/((s*(s+1))*(s^2+s+2500)); 
sysD1=(s+2)/(s+13);
sysD2=91*(s+0.05)/(s+0.01);
sysDno=sysD1*sysD2;    % no notch  
sysOL1=sysG*sysDno;
sysCL1=feedback(sysOL1,1);

step(sysCL1);

hold on

grid  

axis([0 2 0 1.4])
 
title('Step response for,lead,lag, notch')

sysDn=((s^2)+0.8*s+3600)/((s+60)^2);  % noth filter
sysD=sysD1*sysD2*sysDn;
sysOL=sysG*sysD;
sysCL=feedback(sysOL,1);

step(sysCL); 

hold off

% set(gco,'LineWidth',4)