Discrete IMC simulation with Matlab in the presence of plant model mismatch

>> gmz=tf(0.078*[0 0 0 0 0 1 0.387],[1 -0.819 0 0 0 0 0],1,'variable','z^-1')

>> cfz=tf([0.9 -0.9*0.819],0.0784*1.387*[1 -0.1],1,'variable','z^-1')
>> dz=cfz/(1-cfz*gmz)
>> gp=tf(0.6,[6 11 6 1],'inputdelay',3)
>> gpz=c2d(gp,1)
>> gcl=dz*gpz/(1+dz*gpz)
>> step(gcl)

Step Response
1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

10

15

20

25

Time (seconds)

30

35

40

45

50