clc

close all
clear all
Gs=tf (34,[1 6 34]);
t=0:0.001:2;
%(a)
yr=step(4*Gs,t);
y0=1; yp0=-3;
Gs0=tf ([y0 yp0+6*y0],[1 6 34]);
y0=impulse(Gs0,t);
plot(t,y0,'g',t,yr,'r',t,y0+yr,'b')
grid
%(b)
figure(2)
y0=-1; yp0=3;
Gs0=tf ([y0 yp0+6*y0],[1 6 34]);
Rs=4*tf(1,[1 0])
Gst=Gs0+Gs*Rs
impulse(Gst,t)
hold
y0=1; yp0=-3;
Gs0=tf ([y0 yp0+6*y0],[1 6 34]);
Gst=Gs0+Gs*Rs
impulse(Gst,t)
y0=4; yp0=4;
Gs0=tf ([y0 yp0+6*y0],[1 6 34]);
Gst=Gs0+Gs*Rs
impulse(Gst,t)
y0=5; yp0=0;
Gs0=tf ([y0 yp0+6*y0],[1 6 34]);
Gst=Gs0+Gs*Rs
impulse(Gst,t)