J = 8.56e-3;
td=.1;
ti=1e9;
T=1/200;

k = 1000;
kt = 90.63e-6;

kp = k-k*T/(2*ti);
ki = k*T/ti;
kd = k*td/T;

num = T^2*kt*[kp+ki+kd,ki-kd,-kp-kd,kd];
den = [2*J,(kp+ki+kd)*kt*T^2-6*J,(ki-kd)*kt*T^2+6*J,(-kp-kd)*kt*T^2-2*J,kd*kt*T^2];

step(tf(num,den,T));

ylabel("respuesta al escalon con PID");

pause();