Kt=4.375;Kb=0.

00867;R=100;
L=0.0006;n=200;bM=0.00013;bL=0.5;JM=0.00844;JL=1;
b=bM+(bL/n^2);J=JM+(JL/n^2);
A=[0 1 0;0 0 1;0 -(b*R+Kb*Kt)/JL -(J*R+b*L)/JL];
B=[0;0;Kt/(n*JL)];
C=[1 0 0];
D=0;
sys=ss(A,B,C,D);
dt=0.01;
t=[0:dt:25];
x0=[0.1;0;0];
u=zeros(length(t),1);
y1=lsim(sys,u,t,x0);
u=ones(length(t),1);
y2=lsim(sys,u,t);
y=y1+y2;
figure,
subplot(2,2,1),plot(t,y1),grid,xlabel('Time(Sec)'),ylabel('Outputs'),title('zero input response');
subplot(2,2,2),plot(t,y2),grid,xlabel('Time(Sec)'),ylabel('Outputs'),title('zero state response');
subplot(2,2,3),plot(t,y),grid,xlabel('Time(Sec)'),ylabel('Outputs'),title('total input response');