s = tf('s');
plant = 2 / ((1 + 2 * s) * (1 + 3 * s));
Kp = 2.0;
Ti = 5.4;
Td = 0.4;
reg = Kp * (1 + 1/(Ti * s) + Td * s);
closed_loop = (reg * plant) / (1 + reg * plant);
step (closed_loop);
grid on;