values;



G = linspace(0, 7);

tcl = 1./(1+2*G*(Ktach/Ke))*tm;



plot(G,tcl);

xlabel('Gain');

ylabel('Closed loop time constant, \tau_{cl} (in s)');

text(0.1,tm,'Open loop time constant \tau = 0.526s');

grid on;

title('Dependence of \tau_{cl} on compensator gain G');