clear all;close all;ts=0.001;J=1/147;q=22/147;sys=tf(1,[J,q,0]);dsys=c2d(sys,ts,'z');[num,den]=tfdata(dsys,'v');r_1=0;r_2=0;u_1=0;u_2=0;y_1=0;y_2=0;error_1=0;ei=0;for k=1:1:1000
time(k)=k*ts;S=1;if S==1
%Step Signal rin(k)=1.0;elseif S==2%Sine Signal rin(k)=1.0*sin(1*2*pi*k*ts)...
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