figure (5)
clf;
clear;

robot = tf(1, [1 8 25]);		

Kp = 0.5;			% defines the proportional controller gain
Ki = 0.5;
Kd = 0.5;

t=0:0.01:2;

perturbation = 0;

pidcontroller=tf([Kd Kp Ki], [1 0]);
pidcontrol=feedback(pidcontroller*robot+perturbation, 1);

figure(5)
step(pidcontrol)
title('PID control')
axis([0 2 0 1.2])

