% Datos de Simulación
% Planta: The DC motor
% Formato de datos: t pos vel u ref
% --------------------------

data=[
0 0 0 0.1 0
0.1 0.65 23.49 0.1 0
0.1 2.16 35.53 0.1 0
0.2 4.09 40.83 0.1 0
0.2 6.18 42.23 0.1 0
0.3 8.28 41.44 0.1 0
0.3 10.31 39.48 0.1 0
0.3 12.22 36.94 0.1 0
0.4 14 34.18 0.1 0
0.4 15.64 31.41 0.1 0
0.5 17.14 28.74 0.1 0
0.6 18.51 26.21 0.1 0
0.6 19.76 23.86 0.1 0
0.7 20.9 21.7 0.1 0
0.7 21.94 19.72 0.1 0
0.8 22.88 17.92 0.1 0
0.8 23.73 16.28 0.1 0
0.9 24.51 14.79 0.1 0
0.9 25.22 13.44 0.1 0
1 25.86 12.22 0.1 0
1 26.44 11.11 0.1 0
1.1 26.97 10.11 0.1 0
1.1 27.45 9.2 0.1 0
1.2 27.89 8.38 0.1 0
1.2 28.29 7.63 0.1 0
1.3 28.66 6.96 0.1 0
1.3 28.99 6.35 0.1 0
1.4 29.29 5.8 0.1 0
1.4 29.57 5.3 0.1 0
1.5 29.82 4.85 0.1 0
1.5 30.06 4.44 0.1 0
1.6 30.27 4.07 0.1 0
1.6 30.47 3.74 0.1 0
1.7 30.64 3.44 0.1 0
1.7 30.81 3.16 0.1 0
1.8 30.96 2.92 0.1 0
1.8 31.1 2.69 0.1 0
1.9 31.23 2.49 0.1 0
1.9 31.35 2.31 0.1 0
2 31.46 2.14 0.1 0
2 31.57 1.99 0.1 0
2.1 31.66 1.86 0.1 0
2.1 31.75 1.73 0.1 0
2.2 31.84 1.62 0.1 0
2.2 31.92 1.52 0.1 0
2.3 31.99 1.43 0.1 0
2.3 32.06 1.35 0.1 0
2.3 32.13 1.27 0.1 0
2.4 32.19 1.21 0.1 0
2.4 32.25 1.15 0.1 0
2.5 32.3 1.09 0.1 0
2.5 32.36 1.04 0.1 0
2.6 32.41 1 0.1 0
2.6 32.46 0.95 0.1 0
2.7 32.5 0.92 0.1 0
2.7 32.55 0.88 0.1 0
2.8 32.59 0.85 0.1 0
2.8 32.63 0.83 0.1 0
2.9 32.68 0.8 0.1 0
2.9 32.72 0.78 0.1 0
3 32.75 0.76 0.1 0
3 32.79 0.74 0.1 0
3.1 32.83 0.72 0.1 0
3.1 32.87 0.71 0.1 0
3.2 32.9 0.7 0.1 0
3.2 32.94 0.68 0.1 0
3.3 32.97 0.67 0.1 0
3.3 33 0.66 0.1 0
3.4 33.04 0.65 0.1 0
3.4 33.07 0.65 0.1 0
3.5 33.1 0.64 0.1 0
3.5 33.13 0.63 0.1 0
3.6 33.16 0.63 0.1 0
3.6 33.2 0.62 0.1 0
3.7 33.23 0.61 0.1 0
3.7 33.26 0.61 0.1 0
3.8 33.29 0.61 0.1 0
3.8 33.32 0.6 0.1 0
3.9 33.35 0.6 0.1 0
3.9 33.38 0.6 0.1 0
4 33.41 0.59 0.1 0
4 33.44 0.59 0.1 0
4.1 33.47 0.59 0.1 0
4.1 33.5 0.59 0.1 0
4.2 33.53 0.58 0.1 0
4.2 33.56 0.58 0.1 0
4.3 33.59 0.58 0.1 0
4.3 33.62 0.58 0.1 0
4.4 33.65 0.58 0.1 0
4.4 33.67 0.58 0.1 0
4.5 33.7 0.58 0.1 0
4.5 33.73 0.58 0.1 0
4.6 33.76 0.58 0.1 0
4.6 33.79 0.57 0.1 0
4.7 33.82 0.57 0.1 0
4.7 33.85 0.57 0.1 0
4.8 33.88 0.57 0.1 0
4.8 33.91 0.57 0.1 0
4.9 33.94 0.57 0.1 0
4.9 33.96 0.57 0.1 0
5 33.99 0.57 0.1 0
5 34.02 0.57 0.1 0
5.1 34.05 0.57 0.1 0
5.1 34.08 0.57 0.1 0
5.2 34.11 0.57 0.1 0
5.2 34.14 0.57 0.1 0
5.3 34.17 0.57 0.1 0
5.3 34.19 0.57 0.1 0
5.4 34.22 0.57 0.1 0
5.4 34.25 0.57 0.1 0
5.5 34.28 0.57 0.1 0
5.5 34.31 0.57 0.1 0
5.6 34.34 0.57 0.1 0
5.6 34.37 0.57 0.1 0
5.7 34.4 0.57 0.1 0
5.7 34.42 0.57 0.1 0
5.8 34.45 0.57 0.1 0
5.8 34.48 0.57 0.1 0
5.9 34.51 0.57 0.1 0
5.9 34.54 0.57 0.1 0
6 34.57 0.57 0.1 0
6 34.6 0.57 0.1 0
6.1 34.62 0.57 0.1 0
6.1 34.65 0.57 0.1 0
6.2 34.68 0.57 0.1 0
6.2 34.71 0.57 0.1 0
6.3 34.74 0.57 0.1 0
6.3 34.77 0.57 0.1 0
6.4 34.8 0.57 0.1 0
6.4 34.82 0.57 0.1 0
6.5 34.85 0.57 0.1 0
6.5 34.88 0.57 0.1 0
6.6 34.91 0.57 0.1 0
6.6 34.94 0.57 0.1 0
6.7 34.97 0.57 0.1 0
6.7 35 0.57 0.1 0
6.8 35.03 0.57 0.1 0
6.8 35.05 0.57 0.1 0
6.9 35.08 0.57 0.1 0
6.9 35.11 0.57 0.1 0
7 35.14 0.57 0.1 0
7 35.17 0.57 0.1 0
7.1 35.2 0.57 0.1 0
7.1 35.23 0.57 0.1 0
7.2 35.25 0.57 0.1 0
7.2 35.28 0.57 0.1 0
7.3 35.31 0.57 0.1 0
7.3 35.34 0.57 0.1 0
7.4 35.37 0.57 0.1 0
7.4 35.4 0.57 0.1 0
7.5 35.43 0.57 0.1 0
7.5 35.45 0.57 0.1 0
7.6 35.48 0.57 0.1 0
7.6 35.51 0.57 0.1 0
7.7 35.54 0.57 0.1 0
7.7 35.57 0.57 0.1 0
7.8 35.6 0.57 0.1 0
7.8 35.63 0.57 0.1 0
7.9 35.65 0.57 0.1 0
7.9 35.68 0.57 0.1 0
8 35.71 0.57 0.1 0
8 35.74 0.57 0.1 0
8.1 35.77 0.57 0.1 0
8.1 35.8 0.57 0.1 0
8.2 35.83 0.57 0.1 0
8.2 35.86 0.57 0.1 0
8.3 35.88 0.57 0.3 0
8.3 35.91 0.58 0.3 0
8.4 35.94 0.64 0.3 0
8.4 35.98 0.7 0.3 0
8.5 36.01 0.78 0.3 0
8.5 36.06 0.86 0.3 0
8.6 36.1 0.93 0.3 0
8.6 36.15 1 0.3 0
8.7 36.2 1.06 0.3 0
8.7 36.26 1.12 0.3 0
8.8 36.31 1.18 0.3 0
8.8 36.37 1.23 0.3 0
8.9 36.44 1.28 0.3 0
8.9 36.5 1.32 0.3 0
9 36.57 1.35 0.3 0
9 36.64 1.39 0.3 0
9.1 36.71 1.42 0.3 0
9.1 36.78 1.45 0.3 0
9.2 36.85 1.47 0.3 0
9.2 36.93 1.5 0.3 0
9.3 37 1.52 0.3 0
9.3 37.08 1.53 0.3 0
9.4 37.16 1.55 0.3 0
9.5 37.24 1.57 0.3 0
9.5 37.31 1.58 0.3 0
9.6 37.39 1.59 0.3 0
9.6 37.47 1.6 0.3 0
9.7 37.56 1.61 0.3 0
9.7 37.64 1.62 0.3 0
9.8 37.72 1.63 0.3 0
9.8 37.8 1.64 0.3 0
9.9 37.88 1.65 0.3 0
9.9 37.97 1.65 0.3 0
10 38.05 1.66 0.3 0
10 38.13 1.66 0.3 0
10.1 38.22 1.67 0.3 0
10.1 38.3 1.67 0.3 0
10.2 38.38 1.68 0.3 0
10.2 38.47 1.68 0.3 0
10.3 38.55 1.68 0.3 0
10.3 38.64 1.69 0.3 0
10.4 38.72 1.69 0.3 0
10.4 38.81 1.69 0.3 0
10.5 38.89 1.69 0.3 0
10.5 38.97 1.69 0.3 0
10.6 39.06 1.7 0.3 0
10.6 39.14 1.7 0.3 0
10.7 39.23 1.7 0.3 0
10.7 39.32 1.7 0.3 0
10.8 39.4 1.7 0.3 0
10.8 39.49 1.7 0.3 0
10.9 39.57 1.7 0.3 0
10.9 39.66 1.7 0.3 0
11 39.74 1.7 0.3 0
11 39.83 1.71 0.3 0
11.1 39.91 1.71 0.3 0
11.1 40 1.71 0.3 0
11.2 40.08 1.71 0.3 0
11.2 40.17 1.71 0.3 0
11.3 40.26 1.71 0.3 0
11.3 40.34 1.71 0.3 0
11.4 40.43 1.71 0.3 0
11.4 40.51 1.71 0.3 0
11.5 40.6 1.71 0.3 0
11.5 40.68 1.71 0.3 0
11.6 40.77 1.71 0.3 0
11.6 40.86 1.71 0.3 0
11.7 40.94 1.71 0.3 0
11.7 41.03 1.71 0.3 0
11.8 41.11 1.71 0.3 0
11.8 41.2 1.71 0.3 0
11.9 41.28 1.71 0.3 0
11.9 41.37 1.71 0.3 0
12 41.46 1.71 0.3 0
12 41.54 1.71 0.3 0
12.1 41.63 1.71 0.3 0
12.1 41.71 1.71 0.3 0
12.2 41.8 1.71 0.3 0
12.2 41.89 1.71 0.3 0
12.3 41.97 1.71 0.3 0
12.3 42.06 1.71 0.3 0
12.4 42.14 1.71 0.3 0
12.4 42.23 1.71 0.3 0
12.5 42.31 1.71 0.3 0
12.5 42.4 1.71 0.3 0
12.6 42.49 1.71 0.3 0
12.6 42.57 1.71 0.3 0
12.7 42.66 1.71 0.3 0
12.7 42.74 1.71 0.3 0
12.8 42.83 1.71 0.3 0
12.8 42.92 1.71 0.3 0
12.9 43 1.71 0.3 0
12.9 43.09 1.71 0.3 0
13 43.17 1.71 0.3 0
13 43.26 1.71 0.3 0
13.1 43.34 1.71 0.3 0
13.1 43.43 1.71 0.3 0
13.2 43.52 1.71 0.3 0
13.2 43.6 1.71 0.3 0
13.3 43.69 1.71 0.3 0
13.3 43.77 1.71 0.3 0
13.4 43.86 1.71 0.3 0
13.4 43.95 1.71 0.3 0
13.5 44.03 1.71 0.3 0
13.5 44.12 1.71 0.3 0
13.6 44.2 1.71 0.3 0
13.6 44.29 1.71 0.3 0
13.7 44.37 1.71 0.3 0
13.7 44.46 1.71 0.3 0
13.8 44.55 1.71 0.3 0
13.8 44.63 1.71 0.3 0
13.9 44.72 1.71 0.3 0
13.9 44.8 1.71 0.3 0
14 44.89 1.71 0.3 0
14 44.98 1.71 0.3 0
14.1 45.06 1.71 0.3 0
14.1 45.15 1.71 0.3 0
14.2 45.23 1.71 0.3 0
14.2 45.32 1.71 0.3 0
14.3 45.41 1.71 0.3 0
14.3 45.49 1.71 0.3 0
14.4 45.58 1.71 0.3 0
14.4 45.66 1.71 0.3 0
14.5 45.75 1.71 0.3 0
14.5 45.83 1.71 0.3 0
14.6 45.92 1.71 0.3 0
14.6 46.01 1.71 0.3 0
14.7 46.09 1.71 0.3 0
14.7 46.18 1.71 0.3 0
14.8 46.26 1.71 0.3 0
14.8 46.35 1.71 0.3 0
14.9 46.44 1.71 0.3 0
14.9 46.52 1.71 0.3 0
15 46.61 1.71 0.3 0
15 46.69 1.71 0.3 0
15.1 46.78 1.71 0.3 0
15.1 46.86 1.71 0.3 0
15.2 46.95 1.71 0.3 0
15.2 47.04 1.71 0.3 0
15.3 47.12 1.71 0.3 0
15.3 47.21 1.71 0.3 0
15.4 47.29 1.71 0.3 0
15.4 47.38 1.71 0.3 0
15.5 47.47 1.71 0.3 0
15.5 47.55 1.71 0.3 0
15.6 47.64 1.71 0.3 0
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15.8 47.98 1.71 0.3 0
15.8 48.07 1.71 0.3 0
15.9 48.15 1.71 0.3 0
15.9 48.24 1.71 0.3 0
16 48.32 1.71 0.3 0
16 48.41 1.71 0.3 0
16.1 48.5 1.71 0.3 0
16.1 48.58 1.71 0.5 0
16.2 48.67 1.73 0.5 0
16.2 48.76 1.78 0.5 0
16.3 48.85 1.85 0.5 0
16.3 48.94 1.92 0.5 0
16.4 49.04 2 0.5 0
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16.5 49.36 2.21 0.5 0
16.6 49.47 2.27 0.5 0
16.6 49.58 2.32 0.5 0
16.7 49.7 2.37 0.5 0
16.7 49.82 2.42 0.5 0
16.8 49.94 2.46 0.5 0
16.8 50.07 2.5 0.5 0
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16.9 50.32 2.56 0.5 0
17 50.45 2.59 0.5 0
17 50.58 2.62 0.5 0
17.1 50.71 2.64 0.5 0
17.1 50.85 2.66 0.5 0
17.2 50.98 2.68 0.5 0
17.2 51.11 2.7 0.5 0
17.3 51.25 2.71 0.5 0
17.3 51.39 2.73 0.5 0
17.4 51.52 2.74 0.5 0
17.4 51.66 2.75 0.5 0
17.5 51.8 2.76 0.5 0
17.5 51.94 2.77 0.5 0
17.6 52.08 2.78 0.5 0
17.6 52.22 2.78 0.5 0
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17.7 52.49 2.8 0.5 0
17.8 52.64 2.8 0.5 0
17.8 52.78 2.81 0.5 0
17.9 52.92 2.81 0.5 0
17.9 53.06 2.82 0.5 0
18 53.2 2.82 0.5 0
18 53.34 2.82 0.5 0
18.1 53.48 2.83 0.5 0
18.1 53.62 2.83 0.5 0
18.2 53.77 2.83 0.5 0
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18.4 54.33 2.84 0.5 0
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18.5 54.62 2.84 0.5 0
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24 70.42 3.58 1 0
24 70.61 3.76 1 0
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25 75.2 5.42 1 0
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];

t=data(:,1);
pos=data(:,2);
vel=data(:,3);
u=data(:,4);
ref=data(:,5);
plot([t'],[pos']);
plot([t'],[vel']);