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

data=[
0 0 0 0 0
0.1 0.65 23.48 0 0
0.1 2.16 35.49 -0.12 0
0.2 4.09 40.74 -0.39 0
0.2 6.17 42.04 -0.75 0
0.3 8.25 41.06 -1.15 0
0.3 10.25 38.77 -1.56 0
0.3 12.12 35.77 -1.99 0
0.4 13.83 32.4 -2.4 0
0.4 15.36 28.86 -2.81 0
0.5 16.71 25.27 -3.2 0
0.6 17.89 21.71 -3.57 0
0.6 18.88 18.22 -3.92 0
0.7 19.71 14.81 -4.25 0
0.7 20.37 11.5 -4.56 0
0.8 20.86 8.31 -4.85 0
0.8 21.2 5.24 -5 0
0.9 21.39 2.3 -5 0
0.9 21.43 -0.48 -5 0
1 21.35 -3.05 -5 0
1 21.13 -5.43 -5 0
1.1 20.81 -7.6 -5 0
1.1 20.38 -9.58 -5 0
1.2 19.85 -11.38 -5 0
1.2 19.24 -13.01 -5 0
1.3 18.55 -14.49 -5 0
1.3 17.8 -15.84 -5 0
1.4 16.97 -17.05 -5 0
1.4 16.09 -18.15 -5 0
1.5 15.16 -19.15 -5 0
1.5 14.18 -20.05 -5 0
1.6 13.16 -20.87 -5 0
1.6 12.09 -21.61 -5 0
1.7 11 -22.28 -5 0
1.7 9.87 -22.88 -5 0
1.8 8.71 -23.43 -5 0
1.8 7.53 -23.92 -5 0
1.9 6.32 -24.37 -5 0
1.9 5.09 -24.78 -5 0
2 3.84 -25.14 -5 0
2 2.58 -25.47 -5 0
2.1 1.3 -25.78 0.1 30
2.1 0.01 -25.44 0.57 30
2.2 358.77 -24.23 1.04 30
2.2 357.6 -22.47 1.52 30
2.3 356.53 -20.39 2 30
2.3 355.56 -18.1 2.47 30
2.3 354.72 -15.67 2.93 30
2.4 354 -13.17 3.38 30
2.4 353.4 -10.62 3.82 30
2.5 352.94 -8.04 4.24 30
2.5 352.6 -5.46 4.64 30
2.6 352.39 -2.88 5 30
2.6 352.31 -0.32 5 30
2.7 352.36 2.17 5 30
2.7 352.53 4.53 5 30
2.8 352.81 6.73 5 30
2.8 353.2 8.75 5 30
2.9 353.68 10.61 5 30
2.9 354.26 12.3 5 30
3 354.91 13.84 5 30
3 355.64 15.24 5 30
3.1 356.43 16.51 5 30
3.1 357.29 17.66 5 30
3.2 358.2 18.7 5 30
3.2 359.16 19.65 5 30
3.3 0.16 20.5 5 30
3.3 1.21 21.27 5 30
3.4 2.29 21.97 5 30
3.4 3.4 22.6 5 30
3.5 4.55 23.18 5 30
3.5 5.72 23.7 5 30
3.6 6.92 24.16 5 30
3.6 8.14 24.59 5 30
3.7 9.38 24.97 5 30
3.7 10.63 25.32 5 30
3.8 11.91 25.63 5 30
3.8 13.2 25.92 5 30
3.9 14.5 26.17 5 30
3.9 15.81 26.41 5 30
4 17.14 26.62 5 30
4 18.48 26.81 5 30
4.1 19.82 26.98 5 30
4.1 21.17 27.13 5 30
4.2 22.53 27.28 5 30
4.2 23.9 27.4 5 30
4.3 25.27 27.52 5 30
4.3 26.65 27.62 5 30
4.4 28.04 27.72 5 30
4.4 29.43 27.8 5 30
4.5 30.82 27.88 5 30
4.5 32.21 27.95 5 30
4.6 33.61 28.01 5 30
4.6 35.02 28.07 5 30
4.7 36.42 28.12 5 30
4.7 37.83 28.17 4.75 30
4.8 39.24 28.18 4.45 30
4.8 40.65 28.12 4.13 30
4.9 42.05 27.95 3.81 30
4.9 43.44 27.65 3.47 30
5 44.81 27.24 3.12 30
5 46.16 26.69 2.76 30
5.1 47.48 26.02 2.4 30
5.1 48.76 25.22 2.02 30
5.2 50 24.31 1.65 30
5.2 51.19 23.29 1.27 30
5.3 52.33 22.17 0.88 30
5.3 53.41 20.95 0.5 30
5.4 54.42 19.64 0.11 30
5.4 55.37 18.25 -0.27 30
5.5 56.25 16.78 -0.65 30
5.5 57.05 15.24 -1.02 30
5.6 57.77 13.65 -1.39 30
5.6 58.41 12 -1.75 30
5.7 58.97 10.3 -2.11 30
5.7 59.44 8.57 -2.46 30
5.8 59.83 6.8 -2.79 30
5.8 60.12 5.01 -3.12 30
5.9 60.33 3.21 -3.43 30
5.9 60.44 1.39 -3.73 30
6 60.47 -0.43 -4.01 30
6 60.4 -2.24 -4.28 30
6.1 60.24 -4.05 -4.54 30
6.1 60 -5.83 -4.78 30
6.2 59.66 -7.6 -5 30
6.2 59.24 -9.33 -5 30
6.3 58.73 -11 -5 30
6.3 58.14 -12.58 -5 30
6.4 57.47 -14.05 -5 30
6.4 56.74 -15.4 -5 30
6.5 55.94 -16.64 -5 30
6.5 55.08 -17.77 -5 30
6.6 54.16 -18.79 -5 30
6.6 53.2 -19.73 -5 30
6.7 52.19 -20.57 -5 30
6.7 51.14 -21.34 -5 30
6.8 50.06 -22.03 -5 30
6.8 48.94 -22.66 -5 30
6.9 47.8 -23.23 -5 30
6.9 46.62 -23.74 -5 30
7 45.42 -24.2 -5 30
7 44.2 -24.63 -5 30
7.1 42.96 -25.01 -5 30
7.1 41.7 -25.35 -5 30
7.2 40.43 -25.66 -5 30
7.2 39.14 -25.95 -5 30
7.3 37.83 -26.2 -5 30
7.3 36.52 -26.43 -5 30
7.4 35.19 -26.64 -5 30
7.4 33.85 -26.83 -4.96 30
7.5 32.51 -27 -4.78 30
7.5 31.16 -27.12 -4.57 30
7.6 29.8 -27.17 -4.36 30
7.6 28.44 -27.13 -4.13 30
7.7 27.09 -27 -3.89 30
7.7 25.74 -26.78 -3.64 30
7.8 24.41 -26.45 -3.38 30
7.8 23.1 -26.03 -3.11 30
7.9 21.81 -25.52 -2.83 30
7.9 20.55 -24.92 -2.55 30
8 19.32 -24.23 -2.26 30
8 18.13 -23.45 -1.96 30
8.1 16.98 -22.59 -1.66 30
8.1 15.87 -21.66 -1.35 30
8.2 14.81 -20.65 -1.04 30
8.2 13.81 -19.58 -0.74 30
8.3 12.86 -18.44 -0.43 30
8.3 11.97 -17.25 -0.12 30
8.4 11.13 -16 0.19 30
8.4 10.37 -14.71 0.49 30
8.5 9.66 -13.37 0.79 30
8.5 9.03 -11.99 1.08 30
8.6 8.47 -10.58 1.37 30
8.6 7.97 -9.14 1.65 30
8.7 7.55 -7.68 1.93 30
8.7 7.21 -6.2 2.19 30
8.8 6.93 -4.71 2.45 30
8.8 6.74 -3.22 2.7 30
8.9 6.61 -1.72 2.93 30
8.9 6.56 -0.23 3.16 30
9 6.59 1.26 3.37 30
9 6.69 2.73 3.57 30
9.1 6.86 4.19 3.76 30
9.1 7.11 5.62 3.93 30
9.2 7.42 7.02 4.09 30
9.2 7.81 8.39 4.24 30
9.3 8.26 9.72 4.37 30
9.3 8.78 11.02 4.48 30
9.4 9.36 12.26 4.58 30
9.5 10.01 13.46 4.67 30
9.5 10.71 14.61 4.73 30
9.6 11.47 15.7 4.79 30
9.6 12.28 16.74 4.82 30
9.7 13.14 17.71 4.84 30
9.7 14.05 18.61 4.85 30
9.8 15 19.46 4.83 30
9.8 16 20.23 4.81 30
9.9 17.03 20.93 4.76 30
9.9 18.09 21.55 4.71 30
10 19.18 22.11 4.63 30
10 20.3 22.58 4.55 30
10.1 21.44 22.98 4.45 30
10.1 22.59 23.31 4.33 30
10.2 23.77 23.55 4.2 30
10.2 24.95 23.72 4.06 30
10.3 26.14 23.81 3.91 30
10.3 27.33 23.82 3.75 30
10.4 28.52 23.75 3.57 30
10.4 29.7 23.61 3.39 30
10.5 30.88 23.39 3.19 30
10.5 32.04 23.1 2.99 30
10.6 33.19 22.74 2.78 30
10.6 34.32 22.31 2.56 30
10.7 35.42 21.8 2.34 30
10.7 36.5 21.23 2.11 30
10.8 37.54 20.6 1.87 30
10.8 38.55 19.91 1.63 30
10.9 39.53 19.15 1.39 30
10.9 40.47 18.34 1.14 30
11 41.37 17.48 0.89 30
11 42.22 16.57 0.65 30
11.1 43.02 15.61 0.4 30
11.1 43.78 14.61 0.15 30
11.2 44.48 13.57 -0.1 30
11.2 45.14 12.5 -0.34 30
11.3 45.73 11.39 -0.58 30
11.3 46.27 10.25 -0.82 30
11.4 46.76 9.09 -1.05 30
11.4 47.18 7.92 -1.28 30
11.5 47.55 6.72 -1.5 30
11.5 47.86 5.51 -1.71 30
11.6 48.1 4.3 -1.92 30
11.6 48.29 3.08 -2.12 30
11.7 48.41 1.86 -2.31 30
11.7 48.47 0.65 -2.49 30
11.8 48.48 -0.56 -2.66 30
11.8 48.42 -1.76 -2.83 30
11.9 48.3 -2.93 -2.98 30
11.9 48.13 -4.1 -3.12 30
12 47.89 -5.23 -3.25 30
12 47.6 -6.34 -3.36 30
12.1 47.26 -7.43 -3.47 30
12.1 46.86 -8.47 -3.56 30
12.2 46.41 -9.49 -3.65 30
12.2 45.91 -10.46 -3.71 30
12.3 45.37 -11.39 -3.77 30
12.3 44.78 -12.28 -3.81 30
12.4 44.14 -13.12 -3.85 30
12.4 43.47 -13.91 -3.86 30
12.5 42.75 -14.65 -3.87 30
12.5 42 -15.33 -3.86 30
12.6 41.22 -15.96 -3.84 30
12.6 40.41 -16.54 -3.81 30
12.7 39.57 -17.05 -3.77 30
12.7 38.7 -17.5 -3.71 30
12.8 37.82 -17.9 -3.64 30
12.8 36.92 -18.23 -3.57 30
12.9 36 -18.5 -3.48 30
12.9 35.07 -18.71 -3.38 30
13 34.13 -18.86 -3.27 30
13 33.18 -18.94 -3.15 30
13.1 32.24 -18.96 -3.02 30
13.1 31.29 -18.92 -2.88 30
13.2 30.34 -18.82 -2.73 30
13.2 29.41 -18.66 -2.58 30
13.3 28.48 -18.44 -2.42 30
13.3 27.57 -18.16 -2.25 30
13.4 26.67 -17.82 -2.08 30
13.4 25.78 -17.43 -1.9 30
13.5 24.92 -16.99 -1.72 30
13.5 24.09 -16.49 -1.53 30
13.6 23.28 -15.95 -1.34 30
13.6 22.49 -15.35 -1.14 30
13.7 21.74 -14.72 -0.95 30
13.7 21.02 -14.04 -0.75 30
13.8 20.34 -13.32 -0.55 30
13.8 19.69 -12.56 -0.36 30
13.9 19.08 -11.77 -0.16 30
13.9 18.52 -10.94 0.04 30
14 17.99 -10.09 0.23 30
14 17.51 -9.21 0.43 30
14.1 17.07 -8.31 0.62 30
14.1 16.68 -7.39 0.8 30
14.2 16.33 -6.45 0.98 30
14.2 16.03 -5.5 1.16 30
14.3 15.78 -4.54 1.33 30
14.3 15.58 -3.58 1.5 30
14.4 15.43 -2.61 1.66 30
14.4 15.32 -1.63 1.81 30
14.5 15.26 -0.66 1.96 30
14.5 15.25 0.3 2.09 30
14.6 15.29 1.25 2.22 30
14.6 15.38 2.2 2.35 30
14.7 15.51 3.12 2.46 30
14.7 15.69 4.03 2.56 30
14.8 15.92 4.92 2.66 30
14.8 16.18 5.79 2.75 30
14.9 16.49 6.63 2.82 30
14.9 16.85 7.44 2.89 30
15 17.24 8.22 2.95 30
15 17.67 8.97 2.99 30
15.1 18.13 9.68 3.03 30
15.1 18.64 10.36 3.05 30
15.2 19.17 10.99 3.07 30
15.2 19.74 11.59 3.08 30
15.3 20.33 12.14 3.07 30
15.3 20.95 12.65 3.06 30
15.4 21.59 13.11 3.03 30
15.4 22.26 13.53 3 30
15.5 22.95 13.9 2.96 30
15.5 23.65 14.22 2.91 30
15.6 24.37 14.49 2.84 30
15.6 25.1 14.72 2.77 30
15.7 25.84 14.89 2.69 30
15.7 26.59 15.01 2.61 30
15.8 27.34 15.09 2.51 30
15.8 28.09 15.11 2.41 30
15.9 28.85 15.09 2.3 30
15.9 29.6 15.01 2.19 30
16 30.35 14.89 2.07 30
16 31.09 14.72 1.94 30
16.1 31.82 14.51 1.81 30
16.1 32.54 14.25 1.67 30
16.2 33.25 13.94 1.53 30
16.2 33.94 13.59 1.38 30
16.3 34.61 13.2 1.23 30
16.3 35.26 12.77 1.08 30
16.4 35.88 12.31 0.93 30
16.4 36.49 11.8 0.77 30
16.5 37.06 11.27 0.61 30
16.5 37.61 10.7 0.46 30
16.6 38.13 10.1 0.3 30
16.6 38.62 9.47 0.14 30
16.7 39.08 8.82 -0.02 30
16.7 39.51 8.14 -0.17 30
16.8 39.9 7.44 -0.33 30
16.8 40.25 6.73 -0.48 30
16.9 40.57 6 -0.63 30
16.9 40.85 5.25 -0.77 30
17 41.09 4.49 -0.91 30
17 41.3 3.73 -1.05 30
17.1 41.47 2.96 -1.18 30
17.1 41.6 2.18 -1.31 30
17.2 41.69 1.41 -1.43 30
17.2 41.74 0.64 -1.55 30
17.3 41.75 -0.13 -1.66 30
17.3 41.73 -0.89 -1.77 30
17.4 41.66 -1.65 -1.87 30
17.4 41.56 -2.39 -1.96 30
17.5 41.42 -3.12 -2.04 30
17.5 41.25 -3.83 -2.12 30
17.6 41.04 -4.52 -2.19 30
17.6 40.8 -5.19 -2.25 30
17.7 40.52 -5.85 -2.3 30
17.7 40.22 -6.47 -2.35 30
17.8 39.88 -7.07 -2.39 30
17.8 39.51 -7.64 -2.42 30
17.9 39.11 -8.19 -2.44 30
17.9 38.69 -8.7 -2.46 30
18 38.24 -9.18 -2.46 30
18 37.77 -9.62 -2.46 30
18.1 37.28 -10.04 -2.45 30
18.1 36.77 -10.41 -2.43 30
18.2 36.24 -10.75 -2.41 30
18.2 35.7 -11.05 -2.37 30
18.3 35.14 -11.31 -2.33 30
18.3 34.57 -11.53 -2.28 30
18.4 33.99 -11.72 -2.23 30
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18.5 32.8 -11.97 -2.1 30
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18.6 31.6 -12.06 -1.94 30
18.6 31 -12.04 -1.86 30
18.7 30.4 -11.99 -1.77 30
18.7 29.8 -11.9 -1.67 30
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18.8 28.62 -11.6 -1.46 30
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19 26.93 -10.89 -1.13 30
19 26.4 -10.59 -1.01 30
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19.7 21.17 -3.68 0.7 30
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19.8 20.87 -2.46 0.92 30
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20 20.64 -0.61 1.21 30
20 20.62 0 1.3 30
20.1 20.64 0.61 1.39 30
20.1 20.68 1.22 1.47 30
20.2 20.76 1.81 1.54 30
20.2 20.86 2.39 1.61 30
20.3 21 2.96 1.67 30
20.3 21.16 3.51 1.73 30
20.4 21.35 4.05 1.78 30
20.4 21.57 4.58 1.82 30
20.5 21.81 5.08 1.86 30
20.5 22.07 5.56 1.89 30
20.6 22.36 6.02 1.92 30
20.6 22.68 6.46 1.94 30
20.7 23.01 6.87 1.95 30
20.7 23.36 7.25 1.95 30
20.8 23.73 7.61 1.95 30
20.8 24.12 7.95 1.95 30
20.9 24.53 8.25 1.93 30
20.9 24.95 8.52 1.91 30
21 25.38 8.77 1.89 30
21 25.83 8.98 1.86 30
21.1 26.28 9.16 1.82 30
21.1 26.74 9.31 1.78 30
21.2 27.21 9.43 1.73 30
21.2 27.69 9.52 1.67 30
21.3 28.16 9.58 1.61 30
21.3 28.64 9.6 1.55 30
21.4 29.12 9.6 1.48 30
21.4 29.6 9.56 1.41 30
21.5 30.08 9.49 1.34 30
21.5 30.55 9.39 1.26 30
21.6 31.02 9.26 1.17 30
21.6 31.48 9.11 1.09 30
21.7 31.93 8.92 1 30
21.7 32.37 8.71 0.9 30
21.8 32.8 8.47 0.81 30
21.8 33.22 8.2 0.71 30
21.9 33.62 7.91 0.62 30
21.9 34.01 7.6 0.52 30
22 34.38 7.27 0.42 30
22 34.74 6.91 0.32 30
22.1 35.07 6.53 0.22 30
22.1 35.39 6.14 0.12 30
22.2 35.69 5.73 0.02 30
22.2 35.96 5.3 -0.08 30
22.3 36.22 4.86 -0.18 30
22.3 36.45 4.41 -0.28 30
22.4 36.66 3.95 -0.37 30
22.4 36.84 3.48 -0.46 30
22.5 37.01 3 -0.56 30
22.5 37.15 2.51 -0.64 30
22.6 37.26 2.03 -0.73 30
22.6 37.35 1.53 -0.81 30
22.7 37.41 1.04 -0.89 30
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22.8 37.47 0.06 -1.04 30
22.8 37.46 -0.43 -1.11 30
22.9 37.43 -0.91 -1.17 30
22.9 37.37 -1.38 -1.23 30
23 37.29 -1.85 -1.28 30
23 37.19 -2.3 -1.33 30
23.1 37.06 -2.75 -1.38 30
23.1 36.91 -3.18 -1.42 30
23.2 36.74 -3.6 -1.46 30
23.2 36.55 -4 -1.49 30
23.3 36.34 -4.39 -1.51 30
23.3 36.12 -4.75 -1.53 30
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23.5 35.03 -6.04 -1.57 30
23.6 34.72 -6.31 -1.56 30
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23.8 33.37 -7.15 -1.49 30
23.8 33.01 -7.29 -1.46 30
23.9 32.64 -7.42 -1.43 30
23.9 32.27 -7.52 -1.39 30
24 31.89 -7.59 -1.35 30
24 31.51 -7.64 -1.3 30
24.1 31.13 -7.67 -1.25 30
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24.2 29.98 -7.59 -1.08 30
24.3 29.61 -7.51 -1.02 30
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24.4 28.87 -7.29 -0.88 30
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24.5 28.15 -6.98 -0.74 30
24.5 27.81 -6.79 -0.67 30
24.6 27.47 -6.58 -0.59 30
24.6 27.15 -6.35 -0.51 30
24.7 26.84 -6.11 -0.43 30
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24.8 26.26 -5.56 -0.27 30
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25 25.27 -4.29 0.04 30
25 25.06 -3.94 0.12 30
25.1 24.88 -3.58 0.2 30
25.1 24.71 -3.21 0.28 30
25.2 24.55 -2.84 0.35 30
25.2 24.42 -2.46 0.42 30
25.3 24.31 -2.07 0.49 30
25.3 24.22 -1.68 0.56 30
25.4 24.14 -1.29 0.63 30
25.4 24.09 -0.9 0.69 30
25.5 24.05 -0.51 0.75 30
25.5 24.04 -0.12 0.81 30
25.6 24.04 0.27 0.87 30
25.6 24.06 0.66 0.92 30
25.7 24.11 1.04 0.96 30
25.7 24.17 1.41 1.01 30
25.8 24.25 1.77 1.05 30
25.8 24.35 2.13 1.09 30
25.9 24.46 2.47 1.12 30
25.9 24.59 2.81 1.15 30
26 24.74 3.13 1.17 30
26 24.91 3.44 1.2 30
26.1 25.09 3.74 1.21 30
26.1 25.28 4.02 1.23 30
26.2 25.49 4.29 1.23 30
26.2 25.71 4.54 1.24 30
26.3 25.94 4.77 1.24 30
26.3 26.19 4.99 1.24 30
26.4 26.44 5.19 1.23 30
26.4 26.71 5.37 1.22 30
26.5 26.98 5.53 1.2 30
26.5 27.26 5.67 1.18 30
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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']);