g11=poly2tfd（1.77[60?1]028）;
g12=poly2tfd（5.88[50?1]027）;
g21=poly2tfd（5.72[60?1]014）;
g22=poly2tfd（6.90[40?1]015）;
g31=poly2tfd（4.42[44?1]00）;
g32=poly2tfd（7.20[19?1]00）;
delt=2;
tfinal=50;
ny=3;
model=tfd2step（tfinaldeltnyg11g12g21g22g31g32）;
plant=model;
p=30;
m=4;
ywt=[10?5?1];
uwt=[1?1];
tend=800;
r=[0.59?0.64?0.67];
%ulim=[];
ulim=[-0.5?-0.5?0.5?0.5?0.02?0.02]