d = conv([1e-2 1],[1e-2 1]);
d = conv(d,[1e-1 1]);
G2 = tf(100,d);
G2p = tf(1000,d);
K2 = 10;
H2 = tf(K2*[1 0],1);

% L = G2/(1+G2*H2);
% Lp = G2p/(1+G2p*H2);
% bode(1e3*L); hold on;
% bode(1e3*Lp);


G1 = tf(1/50*[0.1 1],1);

% bode(G1*G2); hold on;
% bode(G1*G2p);
L = G1*G2;
Lp = G1*G2p;
CR = L/(1+L);
CR2 = Lp/(1+Lp);
step(CR); hold on;
step(CR2)
