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

data=[
30 138.75 -15.58 -3 0
30.1 137.97 -15.73 -3 0
30.1 137.18 -15.87 -3 0
30.2 136.39 -15.99 -3 0
30.2 135.58 -16.11 -3 0
30.3 134.78 -16.21 -3 0
30.3 133.96 -16.3 -3 0
30.4 133.15 -16.38 -3 0
30.4 132.32 -16.46 -3 0
30.5 131.5 -16.53 -3 0
30.5 130.67 -16.59 -3 0
30.6 129.84 -16.65 -3 0
30.6 129.01 -16.7 -3 0
30.7 128.17 -16.74 -3 0
30.7 127.34 -16.78 -3 0
30.8 126.5 -16.82 -3 0
30.8 125.65 -16.85 -3 0
30.9 124.81 -16.89 -3 0
30.9 123.97 -16.91 -3 0
31 123.12 -16.94 -3 0
31 122.27 -16.96 -3 0
31.1 121.42 -16.98 -3 0
31.1 120.57 -17 -3 0
31.2 119.72 -17.02 -3 0
31.2 118.87 -17.03 -3 0
31.3 118.02 -17.05 -3 0
31.3 117.17 -17.06 -3 0
31.4 116.32 -17.07 -3 0
31.4 115.46 -17.08 -3 0
31.5 114.61 -17.09 -3 0
31.5 113.75 -17.1 -3 0
31.6 112.9 -17.1 -3 0
31.6 112.04 -17.11 -3 0
31.7 111.19 -17.12 -3 0
31.7 110.33 -17.12 -3 0
31.8 109.48 -17.13 -3 0
31.8 108.62 -17.13 -3 0
31.9 107.76 -17.14 -3 0
31.9 106.91 -17.14 -3 0
32 106.05 -17.14 -3 0
32 105.19 -17.15 -3 0
32.1 104.34 -17.15 -3 0
32.1 103.48 -17.15 -3 0
32.2 102.62 -17.16 -3 0
32.2 101.76 -17.16 -3 0
32.3 100.91 -17.16 -3 0
32.3 100.05 -17.16 -3 0
32.4 99.19 -17.16 -3 0
32.4 98.33 -17.16 -3 0
32.5 97.48 -17.16 -3 0
32.5 96.62 -17.17 -3 0
32.6 95.76 -17.17 -3 0
32.6 94.9 -17.17 -3 0
32.7 94.04 -17.17 -3 0
32.7 93.18 -17.17 -3 0
32.8 92.33 -17.17 -3 0
32.8 91.47 -17.17 -3 0
32.9 90.61 -17.17 -3 0
32.9 89.75 -17.17 -3 0
33 88.89 -17.17 -3 0
33 88.03 -17.17 -3 0
33.1 87.18 -17.17 -3 0
33.1 86.32 -17.17 -3 0
33.2 85.46 -17.17 -3 0
33.2 84.6 -17.17 -3 0
33.3 83.74 -17.17 -3 0
33.3 82.88 -17.17 -3 0
33.4 82.03 -17.17 -3 0
33.4 81.17 -17.17 -3 0
33.5 80.31 -17.17 -3 0
33.5 79.45 -17.18 -3 0
33.6 78.59 -17.18 -5 0
33.6 77.73 -17.34 -5 0
33.7 76.85 -17.85 -5 0
33.7 75.94 -18.54 -5 0
33.8 75 -19.29 -5 0
33.8 74.01 -20.06 -5 0
33.9 72.99 -20.8 -5 0
33.9 71.94 -21.5 -5 0
34 70.84 -22.15 -5 0
34 69.72 -22.75 -5 0
34.1 68.57 -23.3 -5 0
34.1 67.39 -23.8 -5 0
34.2 66.19 -24.25 -5 0
34.2 64.97 -24.67 -5 0
34.3 63.73 -25.04 -5 0
34.3 62.47 -25.38 -5 0
34.4 61.19 -25.69 -5 0
34.4 59.9 -25.97 -5 0
34.5 58.59 -26.22 -5 0
34.5 57.28 -26.45 -5 0
34.6 55.95 -26.66 -5 0
34.6 54.61 -26.85 -5 0
34.7 53.27 -27.02 -5 0
34.7 51.91 -27.17 -5 0
34.8 50.55 -27.31 -5 0
34.8 49.18 -27.43 -5 0
34.9 47.81 -27.55 -5 0
34.9 46.43 -27.65 -5 0
35 45.04 -27.74 -5 0
35 43.65 -27.83 -5 0
35.1 42.26 -27.9 -5 0
35.1 40.86 -27.97 -5 0
35.2 39.46 -28.03 -5 0
35.2 38.06 -28.09 -5 0
35.3 36.66 -28.14 -5 0
35.3 35.25 -28.19 -5 0
35.4 33.84 -28.23 -5 0
35.4 32.42 -28.27 -5 0
35.5 31.01 -28.3 -5 0
35.5 29.6 -28.33 -5 0
35.6 28.18 -28.36 -5 0
35.6 26.76 -28.38 -5 0
35.7 25.34 -28.41 -5 0
35.7 23.92 -28.43 -5 0
35.8 22.5 -28.45 -5 0
35.8 21.08 -28.46 -5 0
35.9 19.65 -28.48 -5 0
35.9 18.23 -28.49 -5 0
36 16.8 -28.51 -5 0
36 15.38 -28.52 -5 0
36.1 13.95 -28.53 -5 0
36.1 12.53 -28.54 -5 0
36.2 11.1 -28.54 -5 0
36.2 9.67 -28.55 -5 0
36.3 8.24 -28.56 -5 0
36.3 6.82 -28.57 -5 0
36.4 5.39 -28.57 -5 0
36.4 3.96 -28.58 -5 0
36.5 2.53 -28.58 -5 0
36.5 1.1 -28.58 -5 0
36.6 359.67 -28.59 -5 0
36.6 358.24 -28.59 -5 0
36.7 356.82 -28.59 -5 0
36.7 355.39 -28.6 -5 0
36.8 353.96 -28.6 -5 0
36.8 352.53 -28.6 -5 0
36.9 351.1 -28.6 -5 0
36.9 349.67 -28.61 -5 0
37 348.24 -28.61 -5 0
37 346.81 -28.61 -5 0
37.1 345.38 -28.61 -5 0
37.1 343.95 -28.61 -5 0
37.2 342.51 -28.61 -5 0
37.2 341.08 -28.61 -5 0
37.3 339.65 -28.62 -5 0
37.3 338.22 -28.62 -5 0
37.4 336.79 -28.62 -5 0
37.4 335.36 -28.62 -5 0
37.5 333.93 -28.62 -5 0
37.5 332.5 -28.62 -5 0
37.6 331.07 -28.62 -5 0
37.6 329.64 -28.62 -5 0
37.6 328.21 -28.62 -5 0
37.7 326.78 -28.62 -5 0
37.7 325.35 -28.62 -5 0
37.8 323.92 -28.62 -5 0
37.8 322.49 -28.62 -5 0
37.9 321.05 -28.62 -5 0
37.9 319.62 -28.62 -5 0
38 318.19 -28.62 -5 0
38 316.76 -28.62 -5 0
38.1 315.33 -28.62 -5 0
38.1 313.9 -28.62 -5 0
38.2 312.47 -28.62 -5 0
38.2 311.04 -28.62 -5 0
38.3 309.61 -28.62 -5 0
38.3 308.18 -28.62 -5 0
38.4 306.75 -28.62 -5 0
38.4 305.31 -28.62 -5 0
38.5 303.88 -28.62 -5 0
38.5 302.45 -28.62 -5 0
38.6 301.02 -28.62 -5 0
38.6 299.59 -28.62 -5 0
38.7 298.16 -28.62 5 0
38.7 296.74 -27.81 5 0
38.8 295.41 -25.24 5 0
38.8 294.23 -21.81 5 0
38.9 293.23 -18.04 5 0
38.9 292.43 -14.22 5 0
39 291.81 -10.52 5 0
39 291.37 -7.02 5 0
39.1 291.11 -3.77 5 0
39.1 290.99 -0.77 5 0
39.2 291.03 1.98 5 0
39.2 291.19 4.49 5 0
39.3 291.47 6.77 5 0
39.3 291.86 8.84 5 0
39.4 292.35 10.72 5 0
39.4 292.93 12.42 5 0
39.5 293.59 13.96 5 0
39.5 294.32 15.35 5 0
39.6 295.12 16.61 5 0
39.6 295.98 17.76 5 0
39.7 296.9 18.79 5 0
39.7 297.86 19.73 5 0
39.8 298.87 20.57 5 0
39.8 299.92 21.34 5 0
39.9 301 22.03 5 0
39.9 302.12 22.66 5 0
40 303.27 23.23 5 0
40 304.44 23.74 5 0
40.1 305.64 24.2 5 0
40.1 306.86 24.62 5 0
40.2 308.11 25 5 0
40.2 309.37 25.35 5 0
40.3 310.64 25.66 5 0
40.3 311.93 25.94 5 0
40.4 313.23 26.2 5 0
40.4 314.55 26.43 5 0
40.5 315.88 26.63 5 0
40.5 317.21 26.82 5 0
40.6 318.56 26.99 5 0
40.6 319.91 27.15 5 0
40.7 321.28 27.29 5 0
40.7 322.64 27.41 5 0
40.8 324.02 27.53 5 0
40.8 325.4 27.63 5 0
40.9 326.78 27.73 5 0
40.9 328.17 27.81 5 0
41 329.56 27.89 5 0
41 330.96 27.96 5 0
41.1 332.36 28.02 5 0
41.1 333.76 28.08 5 0
41.2 335.17 28.13 5 0
41.2 336.57 28.17 5 0
41.3 337.98 28.22 5 0
41.3 339.4 28.25 5 0
41.4 340.81 28.29 5 0
41.4 342.22 28.32 5 0
41.5 343.64 28.35 5 0
41.5 345.06 28.37 5 0
41.6 346.48 28.4 5 0
41.6 347.9 28.42 5 0
41.7 349.32 28.44 5 0
41.7 350.74 28.45 5 0
41.8 352.17 28.47 5 0
41.8 353.59 28.48 5 0
41.9 355.02 28.49 5 0
41.9 356.44 28.51 5 0
42 357.87 28.52 5 0
42 359.29 28.53 5 0
42.1 0.72 28.53 5 0
42.1 2.15 28.54 5 0
42.2 3.57 28.55 5 0
42.2 5 28.55 5 0
42.3 6.43 28.56 5 0
42.3 7.86 28.57 5 0
42.4 9.29 28.57 5 0
42.4 10.72 28.57 5 0
42.5 12.15 28.58 5 0
42.5 13.57 28.58 5 0
42.6 15 28.58 5 0
42.6 16.43 28.59 5 0
42.7 17.86 28.59 5 0
42.7 19.29 28.59 5 0
42.8 20.72 28.59 5 0
42.8 22.15 28.6 5 0
42.9 23.58 28.6 5 0
42.9 25.01 28.6 5 0
43 26.44 28.6 5 0
43 27.87 28.6 5 0
43.1 29.3 28.6 5 0
43.1 30.74 28.6 5 0
43.2 32.17 28.61 5 0
43.2 33.6 28.61 5 0
43.3 35.03 28.61 5 0
43.3 36.46 28.61 0 0
43.4 37.88 28.2 0 0
43.4 39.26 26.92 0 0
43.5 40.57 25.2 0 0
43.5 41.78 23.32 0 0
43.6 42.9 21.41 0 0
43.6 43.92 19.56 0 0
43.7 44.86 17.81 0 0
43.7 45.71 16.18 0 0
43.8 46.48 14.68 0 0
43.8 47.18 13.31 0 0
43.9 47.81 12.06 0 0
43.9 48.39 10.92 0 0
44 48.91 9.88 0 0
44 49.38 8.94 0 0
44.1 49.8 8.09 0 0
44.1 50.19 7.32 0 0
44.2 50.54 6.62 0 0
44.2 50.85 5.99 0 0
44.3 51.14 5.42 0 0
44.3 51.39 4.91 0 0
44.4 51.63 4.44 0 0
44.4 51.84 4.01 0 0
44.5 52.03 3.63 0 0
44.5 52.2 3.29 0 0
44.6 52.36 2.97 0 0
44.6 52.5 2.69 0 0
44.7 52.63 2.43 0 0
44.7 52.75 2.2 0 0
44.8 52.85 1.99 0 0
44.8 52.95 1.8 0 0
44.9 53.03 1.63 0 0
44.9 53.11 1.47 0 0
45 53.18 1.33 0 0
45 53.24 1.2 0 0
45.1 53.3 1.09 0 0
45.1 53.35 0.98 0 0
45.2 53.4 0.89 0 0
45.2 53.44 0.8 0 0
45.3 53.48 0.73 0 0
45.3 53.52 0.66 0 0
45.4 53.55 0.59 0 0
45.4 53.58 0.54 0 0
45.5 53.6 0.49 0 0
45.5 53.63 0.44 0 0
45.6 53.65 0.4 0 0
45.6 53.67 0.36 0 0
45.7 53.68 0.32 0 0
45.7 53.7 0.29 0 0
45.8 53.71 0.26 0 0
45.8 53.73 0.24 0 0
45.9 53.74 0.22 0 0
45.9 53.75 0.19 0 0
46 53.76 0.18 0 0
46 53.77 0.16 0 0
46.1 53.77 0.14 0 0
46.1 53.78 0.13 0 0
46.2 53.79 0.12 0 0
46.2 53.79 0.1 0 0
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46.4 53.81 0.08 0 0
46.4 53.81 0.07 0 0
46.5 53.81 0.06 0 0
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46.9 53.83 0.02 0 0
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47 53.83 0.02 0 0
47 53.84 0.02 0 0
47.1 53.84 0.01 0 0
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47.2 53.84 0.01 0 0
47.2 53.84 0.01 0 0
47.3 53.84 0.01 0 0
47.3 53.84 0.01 0 0
47.4 53.84 0.01 0 0
47.4 53.84 0 0 0
47.5 53.84 0 0 0
47.5 53.84 0 0 0
47.6 53.84 0 0 0
47.6 53.84 0 0 0
47.7 53.84 0 0 0
47.7 53.84 0 0 0
47.8 53.84 0 0 0
47.8 53.84 0 0 0
47.9 53.84 0 0 0
47.9 53.85 0 0 0
48 53.85 0 0 0
48 53.85 0 0 0
];

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