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

data=[
60 355.84 14.36 5 0
60.1 356.59 15.66 5 0
60.1 357.4 16.86 5 0
60.2 358.27 17.96 5 0
60.2 359.2 18.96 5 0
60.3 0.17 19.88 5 0
60.3 1.18 20.7 5 0
60.4 2.24 21.45 5 0
60.4 3.33 22.14 5 0
60.5 4.45 22.75 5 0
60.5 5.6 23.31 5 0
60.6 6.78 23.81 5 0
60.6 7.98 24.27 5 0
60.7 9.21 24.69 5 0
60.7 10.45 25.06 5 0
60.8 11.71 25.4 5 0
60.8 12.99 25.7 5 0
60.9 14.28 25.98 5 0
60.9 15.59 26.23 5 0
61 16.91 26.46 5 0
61 18.24 26.66 5 0
61.1 19.57 26.85 5 0
61.1 20.92 27.02 5 0
61.2 22.28 27.17 5 0
61.2 23.64 27.31 5 0
61.3 25.01 27.43 5 0
61.3 26.38 27.55 5 0
61.4 27.76 27.65 5 0
61.4 29.15 27.74 5 0
61.5 30.54 27.82 5 0
61.5 31.93 27.9 5 0
61.6 33.33 27.97 5 0
61.6 34.73 28.03 5 0
61.7 36.13 28.08 5 0
61.7 37.53 28.13 5 0
61.8 38.94 28.18 5 0
61.8 40.35 28.22 5 0
61.9 41.77 28.26 5 0
61.9 43.18 28.29 5 0
62 44.6 28.32 5 0
62 46.01 28.35 5 0
62.1 47.43 28.38 5 0
62.1 48.85 28.4 5 0
62.2 50.27 28.42 5 0
62.2 51.69 28.44 5 0
62.3 53.12 28.45 5 0
62.3 54.54 28.47 5 0
62.4 55.96 28.48 5 0
62.4 57.39 28.5 5 0
62.5 58.81 28.51 5 0
62.5 60.24 28.52 5 0
62.6 61.67 28.53 5 0
62.6 63.09 28.54 5 0
62.7 64.52 28.54 5 0
62.7 65.95 28.55 5 0
62.8 67.37 28.56 5 0
62.8 68.8 28.56 5 0
62.9 70.23 28.57 5 0
62.9 71.66 28.57 5 0
63 73.09 28.57 5 0
63 74.52 28.58 5 0
63.1 75.95 28.58 5 0
63.1 77.38 28.59 5 0
63.2 78.81 28.59 5 0
63.2 80.24 28.59 5 0
63.3 81.67 28.59 5 0
63.3 83.1 28.59 -5 0
63.4 84.51 27.78 -5 0
63.4 85.84 25.21 -5 0
63.5 87.02 21.78 -5 0
63.5 88.02 18.01 -5 0
63.6 88.82 14.2 -5 0
63.6 89.44 10.5 -5 0
63.7 89.88 7 -5 0
63.7 90.15 3.75 -5 0
63.8 90.26 0.75 -5 0
63.8 90.22 -2 -5 0
63.9 90.06 -4.5 -5 0
63.9 89.78 -6.78 -5 0
64 89.39 -8.85 -5 0
64 88.9 -10.73 -5 0
64.1 88.32 -12.43 -5 0
64.1 87.66 -13.97 -5 0
64.2 86.92 -15.37 -5 0
64.2 86.12 -16.63 -5 0
64.3 85.26 -17.77 -5 0
64.3 84.35 -18.8 -5 0
64.4 83.38 -19.74 -5 0
64.4 82.38 -20.59 -5 0
64.5 81.33 -21.35 -5 0
64.5 80.24 -22.04 -5 0
64.6 79.13 -22.67 -5 0
64.6 77.98 -23.24 -5 0
64.7 76.8 -23.75 -5 0
64.7 75.6 -24.22 -5 0
64.8 74.38 -24.64 -5 0
64.8 73.14 -25.02 -5 0
64.9 71.88 -25.36 -5 0
64.9 70.61 -25.67 -5 0
65 69.32 -25.95 -5 0
65 68.01 -26.21 -5 0
65.1 66.7 -26.44 -5 0
65.1 65.37 -26.65 -5 0
65.2 64.03 -26.83 -5 0
65.2 62.69 -27 -5 0
65.3 61.33 -27.16 -5 0
65.3 59.97 -27.3 -5 0
65.4 58.6 -27.42 -5 0
65.4 57.23 -27.54 -5 0
65.5 55.85 -27.64 -5 0
65.5 54.47 -27.74 -5 0
65.6 53.08 -27.82 -5 0
65.6 51.68 -27.9 -5 0
65.7 50.29 -27.97 -5 0
65.7 48.89 -28.03 -5 0
65.8 47.49 -28.09 -5 0
65.8 46.08 -28.14 -5 0
65.9 44.67 -28.18 -5 0
65.9 43.26 -28.23 -5 0
66 41.85 -28.26 -5 0
66 40.44 -28.3 -5 0
66.1 39.02 -28.33 -5 0
66.1 37.6 -28.36 -5 0
66.2 36.19 -28.38 -5 0
66.2 34.77 -28.41 -5 0
66.3 33.35 -28.43 -5 0
66.3 31.92 -28.45 -5 0
66.4 30.5 -28.46 -5 0
66.4 29.08 -28.48 -5 0
66.5 27.66 -28.49 -5 0
66.5 26.23 -28.5 -5 0
66.6 24.81 -28.52 -5 0
66.6 23.38 -28.53 -5 0
66.7 21.95 -28.54 -5 0
66.7 20.53 -28.54 -5 0
66.8 19.1 -28.55 -5 0
66.8 17.67 -28.56 -5 0
66.9 16.24 -28.56 -5 0
66.9 14.82 -28.57 -5 0
67 13.39 -28.58 -5 0
67 11.96 -28.58 -5 0
67.1 10.53 -28.58 -5 0
67.1 9.1 -28.59 -5 0
67.2 7.67 -28.59 -5 0
67.2 6.24 -28.59 -5 0
67.3 4.81 -28.6 -5 0
67.3 3.38 -28.6 -5 0
67.4 1.95 -28.6 -5 0
67.4 0.52 -28.6 -5 0
67.5 359.09 -28.61 -5 0
];

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