% 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 -0.57 0
0.2 4.08 40.69 -1.89 0
0.2 6.16 41.74 -3.59 0
0.3 8.22 40.15 -5 0
0.3 10.15 36.84 -5 0
0.3 11.89 32.57 -5 0
0.4 13.4 27.93 -5 0
0.4 14.68 23.26 -5 0
0.5 15.73 18.76 -5 0
0.6 16.56 14.51 -5 0
0.6 17.19 10.56 -5 0
0.7 17.62 6.93 -5 0
0.7 17.88 3.6 -5 0
0.8 17.99 0.57 -5 0
0.8 17.95 -2.19 -5 0
0.9 17.77 -4.7 -5 0
0.9 17.48 -6.97 -5 0
1 17.08 -9.03 -5 0
1 16.58 -10.89 -5 0
1.1 15.99 -12.58 -5 0
1.1 15.33 -14.11 -5 0
1.2 14.59 -15.49 -5 0
1.2 13.78 -16.74 -5 0
1.3 12.91 -17.87 -5 0
1.3 12 -18.9 -5 0
1.4 11.03 -19.82 -5 0
1.4 10.01 -20.66 -5 0
1.5 8.96 -21.42 -5 0
1.5 7.87 -22.11 -5 0
1.6 6.75 -22.73 -5 0
1.6 5.6 -23.29 -5 0
1.7 4.43 -23.8 -5 0
1.7 3.22 -24.26 -5 0
1.8 2 -24.67 -5 0
1.8 0.76 -25.05 -4.11 0
1.9 359.5 -25.29 -3.05 0
1.9 358.24 -25.22 -1.96 0
2 356.98 -24.77 -0.86 0
2 355.77 -23.88 0.25 0
2.1 354.6 -22.55 1.33 0
2.1 353.52 -20.79 2.38 0
2.2 352.53 -18.64 3.37 0
2.2 351.66 -16.13 4.29 0
2.3 350.92 -13.31 5 0
2.3 350.33 -10.27 5 0
2.3 349.9 -7.14 5 0
2.4 349.62 -4.08 5 0
2.4 349.49 -1.18 5 0
2.5 349.5 1.53 5 0
2.5 349.64 4.04 5 0
2.6 349.9 6.33 5 0
2.6 350.27 8.42 5 0
2.7 350.74 10.33 5 0
2.7 351.3 12.06 5 0
2.8 351.94 13.63 5 0
2.8 352.66 15.06 5 0
2.9 353.45 16.35 5 0
2.9 354.29 17.51 4.59 0
3 355.2 18.52 3.91 0
3 356.14 19.29 3.18 0
3.1 357.12 19.74 2.4 0
3.1 358.11 19.84 1.58 0
3.2 359.1 19.57 0.74 0
3.2 0.06 18.93 -0.1 0
3.3 0.99 17.93 -0.93 0
3.3 1.85 16.59 -1.73 0
3.4 2.64 14.94 -2.49 0
3.4 3.34 13.01 -3.2 0
3.5 3.94 10.85 -3.83 0
3.5 4.42 8.49 -4.38 0
3.6 4.79 6 -4.83 0
3.6 5.02 3.41 -5 0
3.7 5.13 0.81 -5 0
3.7 5.1 -1.72 -5 0
3.8 4.96 -4.12 -5 0
3.8 4.7 -6.36 -5 0
3.9 4.33 -8.42 -5 0
3.9 3.86 -10.3 -5 0
4 3.3 -12.03 -4.66 0
4 2.66 -13.56 -4.21 0
4.1 1.95 -14.83 -3.68 0
4.1 1.18 -15.82 -3.09 0
4.2 0.37 -16.48 -2.44 0
4.2 359.54 -16.82 -1.75 0
4.3 358.7 -16.81 -1.02 0
4.3 357.86 -16.46 -0.29 0
4.4 357.06 -15.79 0.45 0
4.4 356.29 -14.8 1.17 0
4.5 355.58 -13.52 1.86 0
4.5 354.94 -11.98 2.51 0
4.6 354.39 -10.21 3.11 0
4.6 353.93 -8.24 3.63 0
4.7 353.57 -6.12 4.08 0
4.7 353.32 -3.9 4.45 0
4.8 353.18 -1.61 4.72 0
4.8 353.15 0.69 4.9 0
4.9 353.25 2.96 4.98 0
4.9 353.45 5.16 4.96 0
5 353.76 7.24 4.84 0
5 354.17 9.16 4.63 0
5.1 354.67 10.89 4.32 0
5.1 355.26 12.38 3.94 0
5.2 355.91 13.62 3.48 0
5.2 356.62 14.58 2.95 0
5.3 357.36 15.25 2.37 0
5.3 358.14 15.61 1.75 0
5.4 358.92 15.66 1.1 0
5.4 359.7 15.4 0.44 0
5.5 0.45 14.83 -0.23 0
5.5 1.18 13.99 -0.89 0
5.6 1.85 12.87 -1.52 0
5.6 2.46 11.51 -2.12 0
5.7 3 9.94 -2.66 0
5.7 3.45 8.19 -3.15 0
5.8 3.81 6.29 -3.57 0
5.8 4.08 4.29 -3.92 0
5.9 4.24 2.22 -4.18 0
5.9 4.3 0.13 -4.36 0
6 4.26 -1.93 -4.45 0
6 4.11 -3.94 -4.45 0
6.1 3.86 -5.85 -4.36 0
6.1 3.53 -7.62 -4.18 0
6.2 3.11 -9.22 -3.92 0
6.2 2.61 -10.61 -3.58 0
6.3 2.05 -11.78 -3.18 0
6.3 1.44 -12.7 -2.71 0
6.4 0.78 -13.36 -2.2 0
6.4 0.11 -13.74 -1.64 0
6.5 359.42 -13.83 -1.06 0
6.5 358.73 -13.65 -0.46 0
6.6 358.05 -13.2 0.14 0
6.6 357.41 -12.48 0.74 0
6.7 356.81 -11.51 1.32 0
6.7 356.26 -10.33 1.86 0
6.8 355.78 -8.94 2.36 0
6.8 355.37 -7.38 2.82 0
6.9 355.05 -5.69 3.21 0
6.9 354.81 -3.9 3.53 0
7 354.66 -2.04 3.78 0
7 354.6 -0.16 3.96 0
7.1 354.64 1.72 4.05 0
7.1 354.77 3.54 4.07 0
7.2 355 5.28 4 0
7.2 355.3 6.9 3.85 0
7.3 355.68 8.38 3.63 0
7.3 356.14 9.67 3.34 0
7.4 356.65 10.76 2.98 0
7.4 357.21 11.64 2.57 0
7.5 357.81 12.27 2.11 0
7.5 358.43 12.65 1.61 0
7.6 359.07 12.79 1.09 0
7.6 359.71 12.66 0.55 0
7.7 0.33 12.29 0 0
7.7 0.93 11.68 -0.54 0
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7.8 2.02 9.8 -1.57 0
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8 3.19 5.68 -2.81 0
8 3.44 4.07 -3.12 0
8.1 3.6 2.39 -3.36 0
8.1 3.68 0.69 -3.53 0
8.2 3.67 -1.01 -3.63 0
8.2 3.58 -2.68 -3.65 0
8.3 3.4 -4.27 -3.61 0
8.3 3.15 -5.76 -3.49 0
8.4 2.83 -7.12 -3.3 0
8.4 2.44 -8.33 -3.04 0
8.5 2 -9.35 -2.73 0
8.5 1.51 -10.18 -2.37 0
8.6 0.99 -10.79 -1.96 0
8.6 0.44 -11.19 -1.52 0
8.7 359.87 -11.35 -1.05 0
8.7 359.31 -11.28 -0.56 0
8.8 358.75 -10.99 -0.07 0
8.8 358.21 -10.48 0.43 0
8.9 357.71 -9.76 0.9 0
8.9 357.24 -8.85 1.36 0
9 356.82 -7.77 1.79 0
9 356.47 -6.54 2.17 0
9.1 356.17 -5.2 2.51 0
9.1 355.95 -3.76 2.8 0
9.2 355.8 -2.25 3.02 0
9.2 355.72 -0.71 3.19 0
9.3 355.73 0.83 3.29 0
9.3 355.81 2.34 3.33 0
9.4 355.96 3.79 3.29 0
9.5 356.18 5.16 3.2 0
9.5 356.47 6.41 3.04 0
9.6 356.82 7.52 2.82 0
9.6 357.22 8.48 2.54 0
9.7 357.67 9.26 2.22 0
9.7 358.15 9.85 1.86 0
9.8 358.65 10.24 1.46 0
9.8 359.17 10.42 1.04 0
9.9 359.69 10.4 0.6 0
9.9 0.21 10.17 0.16 0
10 0.7 9.74 -0.29 0
10 1.18 9.12 -0.72 0
10.1 1.61 8.32 -1.14 0
10.1 2.01 7.37 -1.53 0
10.2 2.35 6.28 -1.89 0
10.2 2.63 5.08 -2.2 0
10.3 2.86 3.79 -2.47 0
10.3 3.01 2.43 -2.69 0
10.4 3.1 1.04 -2.85 0
10.4 3.12 -0.35 -2.95 0
10.5 3.06 -1.73 -2.99 0
10.5 2.95 -3.06 -2.98 0
10.6 2.76 -4.31 -2.9 0
10.6 2.52 -5.46 -2.76 0
10.7 2.22 -6.5 -2.57 0
10.7 1.87 -7.39 -2.34 0
10.8 1.48 -8.13 -2.05 0
10.8 1.06 -8.69 -1.73 0
10.9 0.62 -9.08 -1.38 0
10.9 0.16 -9.28 -1 0
11 359.69 -9.29 -0.61 0
11 359.23 -9.12 -0.2 0
11.1 358.78 -8.76 0.2 0
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11.5 356.6 -1.06 2.56 0
11.5 356.58 0.21 2.67 0
11.6 356.62 1.45 2.71 0
11.6 356.72 2.66 2.71 0
11.7 356.88 3.81 2.65 0
11.7 357.1 4.87 2.53 0
11.8 357.37 5.82 2.37 0
11.8 357.68 6.66 2.16 0
11.9 358.03 7.35 1.91 0
11.9 358.42 7.89 1.63 0
12 358.82 8.27 1.31 0
12 359.24 8.48 0.98 0
12.1 359.67 8.52 0.62 0
12.1 0.09 8.39 0.26 0
12.2 0.5 8.09 -0.11 0
12.2 0.9 7.64 -0.47 0
12.3 1.27 7.04 -0.82 0
12.3 1.6 6.31 -1.14 0
12.4 1.89 5.46 -1.45 0
12.4 2.14 4.5 -1.72 0
12.5 2.34 3.47 -1.95 0
12.5 2.49 2.38 -2.14 0
12.6 2.58 1.25 -2.29 0
12.6 2.62 0.11 -2.39 0
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12.8 2.38 -3.18 -2.4 0
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12.9 1.97 -5.04 -2.17 0
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13 1.39 -6.46 -1.77 0
13 1.05 -6.98 -1.52 0
13.1 0.7 -7.35 -1.24 0
13.1 0.32 -7.57 -0.93 0
13.2 359.94 -7.63 -0.62 0
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13.3 359.19 -7.3 0.04 0
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13.8 357.27 0.81 2.21 0
13.8 357.33 1.82 2.22 0
13.9 357.45 2.78 2.19 0
13.9 357.61 3.67 2.11 0
14 357.81 4.48 1.99 0
14 358.06 5.2 1.83 0
14.1 358.33 5.81 1.64 0
14.1 358.64 6.3 1.42 0
14.2 358.96 6.66 1.17 0
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14.4 0.34 6.72 0.02 0
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17 1.75 1.37 -1.47 0
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104.1 15.29 -0.02 -0.25 15
104.1 15.28 -0.13 -0.26 15
104.2 15.27 -0.24 -0.26 15
104.2 15.26 -0.35 -0.25 15
104.3 15.24 -0.45 -0.24 15
104.3 15.21 -0.54 -0.22 15
104.4 15.19 -0.62 -0.21 15
104.4 15.15 -0.68 -0.18 15
104.5 15.12 -0.73 -0.16 15
104.5 15.08 -0.77 -0.13 15
104.6 15.04 -0.79 -0.1 15
104.6 15 -0.79 -0.06 15
104.7 14.96 -0.78 -0.03 15
104.7 14.93 -0.75 0 15
104.8 14.89 -0.71 0.04 15
104.8 14.86 -0.66 0.07 15
104.9 14.83 -0.59 0.1 15
104.9 14.8 -0.51 0.13 15
105 14.78 -0.42 0.15 15
105 14.76 -0.33 0.18 15
105.1 14.74 -0.22 0.19 15
105.1 14.73 -0.12 0.21 15
105.2 14.73 -0.01 0.22 15
105.2 14.73 0.09 0.22 15
105.3 14.74 0.19 0.22 15
105.3 14.75 0.29 0.22 15
105.4 14.77 0.38 0.21 15
105.4 14.79 0.46 0.2 15
105.5 14.82 0.54 0.18 15
105.5 14.85 0.6 0.16 15
105.6 14.88 0.64 0.14 15
105.6 14.91 0.68 0.11 15
105.7 14.95 0.7 0.08 15
105.7 14.98 0.71 0.05 15
105.8 15.02 0.7 0.02 15
105.8 15.05 0.68 -0.01 15
105.9 15.08 0.64 -0.04 15
105.9 15.12 0.59 -0.07 15
106 15.14 0.53 -0.1 15
106 15.17 0.46 -0.12 15
106.1 15.19 0.39 -0.14 15
106.1 15.21 0.3 -0.17 15
106.2 15.22 0.21 -0.18 15
106.2 15.23 0.12 -0.2 15
106.3 15.23 0.02 -0.2 15
106.3 15.23 -0.08 -0.21 15
106.4 15.23 -0.17 -0.21 15
106.4 15.22 -0.26 -0.21 15
106.5 15.2 -0.34 -0.2 15
106.5 15.18 -0.42 -0.19 15
106.6 15.16 -0.48 -0.18 15
106.6 15.13 -0.54 -0.16 15
106.7 15.11 -0.59 -0.14 15
106.7 15.08 -0.62 -0.11 15
106.8 15.05 -0.64 -0.09 15
106.8 15.01 -0.65 -0.06 15
106.9 14.98 -0.64 -0.03 15
106.9 14.95 -0.63 -0.01 15
107 14.92 -0.6 0.02 15
107 14.89 -0.55 0.05 15
107.1 14.86 -0.5 0.07 15
107.1 14.84 -0.44 0.1 15
107.2 14.82 -0.37 0.12 15
107.2 14.8 -0.3 0.14 15
107.3 14.79 -0.21 0.15 15
107.3 14.78 -0.13 0.17 15
107.4 14.78 -0.04 0.17 15
107.4 14.78 0.04 0.18 15
107.5 14.78 0.13 0.18 15
107.5 14.79 0.21 0.18 15
107.6 14.81 0.29 0.17 15
107.6 14.82 0.36 0.16 15
107.7 14.84 0.42 0.15 15
107.7 14.86 0.47 0.14 15
107.8 14.89 0.51 0.12 15
107.8 14.92 0.55 0.1 15
107.9 14.94 0.57 0.07 15
107.9 14.97 0.58 0.05 15
108 15 0.57 0.03 15
108 15.03 0.56 0 15
108.1 15.06 0.54 -0.02 15
108.1 15.08 0.5 -0.05 15
108.2 15.11 0.45 -0.07 15
108.2 15.13 0.4 -0.09 15
108.3 15.15 0.34 -0.11 15
108.3 15.16 0.27 -0.13 15
108.4 15.18 0.2 -0.15 15
108.4 15.19 0.12 -0.16 15
108.5 15.19 0.04 -0.17 15
108.5 15.19 -0.03 -0.17 15
108.6 15.19 -0.11 -0.17 15
108.6 15.18 -0.19 -0.17 15
108.7 15.17 -0.26 -0.17 15
108.7 15.15 -0.32 -0.16 15
108.8 15.14 -0.38 -0.15 15
108.8 15.12 -0.43 -0.14 15
108.9 15.09 -0.47 -0.12 15
108.9 15.07 -0.5 -0.1 15
109 15.05 -0.52 -0.08 15
109 15.02 -0.53 -0.06 15
109.1 14.99 -0.53 -0.04 15
109.1 14.97 -0.52 -0.01 15
109.2 14.94 -0.5 0.01 15
109.2 14.92 -0.47 0.03 15
109.3 14.9 -0.43 0.05 15
109.3 14.88 -0.38 0.07 15
109.4 14.86 -0.33 0.09 15
109.4 14.84 -0.27 0.11 15
109.5 14.83 -0.2 0.12 15
109.5 14.82 -0.13 0.13 15
109.6 14.82 -0.06 0.14 15
109.6 14.82 0.01 0.14 15
109.7 14.82 0.08 0.15 15
109.7 14.83 0.15 0.15 15
109.8 14.84 0.21 0.14 15
109.8 14.85 0.27 0.14 15
109.9 14.86 0.32 0.13 15
109.9 14.88 0.37 0.12 15
110 14.9 0.41 0.1 15
110 14.92 0.44 0.08 15
110.1 14.95 0.46 0.07 15
110.1 14.97 0.47 0.05 15
110.2 14.99 0.47 0.03 15
110.2 15.02 0.46 0.01 15
110.3 15.04 0.45 -0.01 15
110.3 15.06 0.42 -0.03 15
110.4 15.08 0.39 -0.05 15
110.4 15.1 0.34 -0.07 15
110.5 15.12 0.3 -0.09 15
110.5 15.13 0.24 -0.1 15
110.6 15.14 0.18 -0.12 15
110.6 15.15 0.12 -0.13 15
110.7 15.15 0.06 -0.13 15
110.7 15.15 -0.01 -0.14 15
110.8 15.15 -0.07 -0.14 15
110.8 15.15 -0.13 -0.14 15
110.9 15.14 -0.19 -0.14 15
110.9 15.13 -0.24 -0.13 15
];

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