G = tf([15000], [1, 50, 875, 6250, 15000])

%

Kp = 3.5
Ki = 5
Kd = 0.5

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C = Kp + tf([Ki], [1, 0]) + tf([Kd, 0], [1])

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CL = feedback(C * G, 1)

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step(CL)

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stepinfo(CL)

%

rlocus(G)