clc;
Kc=8.9e4;
Tp=16.5;
s=tf('s');


% -1-
g = Kc/(Tp*s^2+s);
%bode(g)

% -2-
M=1.5;
h=(M+1)/(M-1);
wb=73.4;
T1=1/wb*sqrt( M/(M-1) )
T2=1/wb*sqrt( M*(M-1)/(M+1) )
w1=1/T1
w2=1/T2


% коррект. звено
%g = tf([T1 1],[T2 1]);
%bode(g)



% -3-
g2 = 89000/s * 1/(16.5*s+1) * (0.024*s+1)/(0.0075*s+1);
%g2 = tf([2136 89000],[0.12375 16.5075 1 0]);
g2 = 89000/s * 1/(16.5*s+1) * (0.024*s+1)/(0.0075*s+1) * 1/(0.00075*s+1);
%bode(g,'b--',g2,'r');



% -4-
My=644.9;
% переходный процесс
F=g2/(g2+1)*My/s;
step(F,0.2);