kp=0.

005;

ti =0.863;

td=0.216;

t=0:0.1:100;

s=tf('s');

tuning_pid=(kp*(1+1/ti*s+td*s));

plan=22.91/(24.84*s^2+9.97*s+1);

planpid=plan*tuning_pid;

sys_c1=feedback(planpid,32/(1+0.5*s));

%untuk hasil PID

Level_control=sys_c1*40.73;

>> step (Level_control,t)