/*****************************
 * File name: step_comp.ch
 ****************************/

#include <control.h>

int main() {
    // system gain
    double k = 55;

    // compensated system zero
    array double complex cz[1] = {complex(-0.5, 0)};
    
    // compensated system poles
    array double complex cp[4] = {complex(-0.015, 0),
                                  complex(-1, 0),
                                  complex(-2, 0),
                                  complex(-10, 0)};
    array double num[1] = {1};
    array double den[1] = {1};
    double tf = 9;

    CControl sys1, sys2, *sys3;
    CPlot plot;

    sys1.model("zpk", cz, cp, k);
    sys2.model("tf", num, den);
    sys3 = sys1.feedback(&sys2);
    sys3->grid(1);
    sys3->step(&plot, NULL, NULL, NULL, tf);
    
    return 0;
}