% Load motor values

values;



% PI values

G = 6;

tau = 0.01;



% Closed loop transfer function H

H = tf(-0.4*Kt*G*[tau 1], [J*tau 0.4*G*Kt*Ktach*tau 0.4*G*Kt*Ktach]);

%step(H);



% The value of G req'd (Problem 5)

Greq = J/(0.4*0.035*Kt*Ktach);