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

data=[
0 0 0 0 30
0.1 0.65 23.48 0 30
0.1 2.16 35.49 0 30
0.2 4.09 40.76 0 30
0.2 6.17 42.12 0 30
0.3 8.26 41.29 0 30
0.3 10.28 39.29 0 30
0.3 12.18 36.72 0 30
0.4 13.95 33.93 0 30
0.4 15.58 31.13 0 30
0.5 17.07 28.43 0 30
0.6 18.42 25.88 0 30
0.6 19.66 23.51 0 30
0.7 20.78 21.32 0 30
0.7 21.79 19.33 0 30
0.8 22.71 17.51 0 30
0.8 23.55 15.85 0 30
0.9 24.3 14.35 0 30
0.9 24.98 12.99 0 30
1 25.6 11.75 0 30
1 26.16 10.63 0 30
1.1 26.67 9.62 0 30
1.1 27.13 8.7 0 30
1.2 27.54 7.88 0 30
1.2 27.92 7.12 0 30
1.3 28.25 6.45 0 30
1.3 28.56 5.83 0 30
1.4 28.84 5.27 0 30
1.4 29.09 4.77 0 30
1.5 29.32 4.32 0 30
1.5 29.52 3.91 0 30
1.6 29.71 3.53 0 30
1.6 29.88 3.2 0 30
1.7 30.03 2.89 0 30
1.7 30.17 2.61 0 30
1.8 30.29 2.37 0 30
1.8 30.41 2.14 0 30
1.9 30.51 1.93 0 30
1.9 30.6 1.75 0 30
2 30.68 1.58 0 30
2 30.76 1.43 0 30
2.1 30.83 1.29 0 30
2.1 30.89 1.17 0 30
2.2 30.94 1.06 0 30
2.2 31 0.96 0 30
2.3 31.04 0.87 0 30
2.3 31.08 0.78 0 30
2.3 31.12 0.71 0 30
2.4 31.15 0.64 0 30
2.4 31.18 0.58 0 30
2.5 31.21 0.52 0 30
2.5 31.24 0.47 0 30
2.6 31.26 0.43 0 30
2.6 31.28 0.39 0 30
2.7 31.3 0.35 0 30
2.7 31.32 0.31 0 30
2.8 31.33 0.28 0 30
2.8 31.35 0.26 0 30
2.9 31.36 0.23 0 30
2.9 31.37 0.21 0 30
3 31.38 0.19 0 30
3 31.39 0.17 0 30
3.1 31.4 0.15 0 30
3.1 31.4 0.14 0 30
3.2 31.41 0.12 0 30
3.2 31.42 0.11 0 30
3.3 31.42 0.1 0 30
3.3 31.43 0.09 0 30
3.4 31.43 0.08 0 30
3.4 31.44 0.07 0 30
3.5 31.44 0.07 0 30
3.5 31.44 0.06 0 30
3.6 31.45 0.05 0 30
3.6 31.45 0.05 0 30
3.7 31.45 0.04 0 30
3.7 31.45 0.04 0 30
3.8 31.46 0.03 0 30
3.8 31.46 0.03 0 30
3.9 31.46 0.03 0 30
3.9 31.46 0.02 0 30
4 31.46 0.02 0 30
4 31.46 0.02 0 30
4.1 31.47 0.02 0 30
4.1 31.47 0.01 0 30
4.2 31.47 0.01 0 30
4.2 31.47 0.01 0 30
4.3 31.47 0.01 0 30
4.3 31.47 0.01 0 30
4.4 31.47 0.01 0 30
4.4 31.47 0.01 0 30
4.5 31.47 0 0 30
4.5 31.47 0 0 30
4.6 31.47 0 0 30
4.6 31.47 0 0 30
4.7 31.47 0 0 30
4.7 31.47 0 0 30
4.8 31.47 0 0 30
4.8 31.47 0 0 30
4.9 31.47 0 0 0
4.9 31.47 0 0 0
5 31.47 0 0 0
5 31.47 0 0 0
5.1 31.47 0 0 0
5.1 31.47 0 0 0
5.2 31.48 0 0 0
5.2 31.48 0 0 0
5.3 31.48 0 0 0
5.3 31.48 0 0 0
5.4 31.48 0 0 0
5.4 31.48 0 0 0
5.5 31.48 0 0 0
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5.6 31.48 0 0 0
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5.7 31.48 0 0 0
5.7 31.48 0 0 0
5.8 31.48 0 0 0
5.8 31.48 0 0 0
5.9 31.48 0 0 0
5.9 31.48 0 0 0
6 31.48 0 0 0
6 31.48 0 0 0
6.1 31.48 0 0 0
6.1 31.48 0 0 0
6.2 31.48 0 0 0
6.2 31.48 0 0 0
6.3 31.48 0 0 0
6.3 31.48 0 0 0
6.4 31.48 0 0 0
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6.8 31.48 0 0 0
6.8 31.48 0 0 0
6.9 31.48 0 0 31.48
6.9 31.48 0 0 31.48
7 31.48 0 0 31.48
7 31.48 0 0 31.48
7.1 31.48 0 0 31.48
7.1 31.48 0 0 31.48
7.2 31.48 0 0 31.48
7.2 31.48 0 0 31.48
7.3 31.48 0 0 31.48
7.3 31.48 0 0 31.48
7.4 31.48 0 0 31.48
7.4 31.48 0 0 31.48
7.5 31.48 0 0 31.48
7.5 31.48 0 0 31.48
7.6 31.48 0 0 31.48
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7.8 31.48 0 0 31.48
7.8 31.48 0 0 31.48
7.9 31.48 0 0 31.48
7.9 31.48 0 0 31.48
8 31.48 0 0 31.48
8 31.48 0 0 31.48
8.1 31.48 0 0 31.48
8.1 31.48 0 0 31.48
8.2 31.48 0 0 31.48
8.2 31.48 0 0 31.48
8.3 31.48 0 0 31.48
8.3 31.48 0 0 31.48
8.4 31.48 0 0 31.48
8.4 31.48 0 0 31.48
8.5 31.48 0 0 31.48
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9 31.48 0 0 31.48
9 31.48 0 0 31.48
9.1 31.48 0 0 31.48
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9.2 31.48 0 0 31.48
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9.3 31.48 0 0 31.48
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10 31.48 0 0 31.48
10 31.48 0 0 31.48
10.1 31.48 0 0 31.48
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10.2 31.48 0 0 31.48
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11 31.48 0 0 31.48
11 31.48 0 0 31.48
11.1 31.48 0 0 31.48
11.1 31.48 0 0 31.48
11.2 31.48 0 0 31.48
11.2 31.48 0 0 31.48
11.3 31.48 0 0 31.48
11.3 31.48 0 0 31.48
11.4 31.48 0 0 31.48
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11.5 31.48 0 0 31.48
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11.6 31.48 0 0 31.48
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11.8 31.48 0 0 31.48
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11.9 31.48 0 0 31.48
11.9 31.48 0 0 31.48
12 31.48 0 0 31.48
12 31.48 0 0 31.48
12.1 31.48 0 0 31.48
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12.2 31.48 0 0 31.48
12.2 31.48 0 0 31.48
12.3 31.48 0 0 31.48
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12.6 31.48 0 0 31.48
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12.7 31.48 0 0 31.48
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12.8 31.48 0 0 31.48
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12.9 31.48 0 0 31.48
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13 31.48 0 0 31.48
13 31.48 0 0 31.48
13.1 31.48 0 0 31.48
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14 31.48 0 0 31.48
14 31.48 0 0 31.48
14.1 31.48 0 0 31.48
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15 31.48 0 0 31.48
15 31.48 0 0 31.48
15.1 31.48 0 0 31.48
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15.3 31.48 0 0 31.48
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15.6 31.48 0 0 31.48
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16 31.48 0 0 31.48
16 31.48 0 0 31.48
16.1 31.48 0 0 31.48
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16.2 31.48 0 0 31.48
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16.3 31.48 0 0 31.48
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16.6 31.48 0 0 31.48
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17 31.48 0 0 31.48
17 31.48 0 0 31.48
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18 31.48 0 0 0
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31.5 31.56 1.05 1 0
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31.6 31.7 1.81 1 0
31.6 31.8 2.16 1 0
31.7 31.92 2.48 1 0
31.7 32.05 2.78 1 0
31.8 32.19 3.06 1 0
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31.9 32.71 3.74 1 0
32 32.9 3.93 1 0
32 33.1 4.1 1 0
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33 37.85 5.48 1 0
33 38.12 5.5 1 0
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34 43.75 5.69 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']);