%%
%% Parametri modello motore in corrente continua
%%

Ra = 3;
La = 0.03;
km = 2;
J = 3;
f = 5e-3;

A = [ -Ra/La, -km/La, 0;
       km/J , -f/J,   0;
       0    ,  1,     0];

B = [ 1.0/La ,  0;
      0      , -1.0/J;
      0      ,  0     ];

C = [0 1 0;
     0 0 1];   
   
D = [0 0;
     0 0];
 
 Gs_sys = ss(A,B(:,1),C(2,:),D(1,2));
 
 [numGs,denGs] = tfdata(Gs_sys,'v');
 
 Gs = tf(numGs,denGs);