% Define the time delay and Laplace variable
tau = 0.05;
s = tf('s');

% Define the transfer function
G = exp(-tau*s)/(s^2);

% Set up the PID controller with automatic tuning
C = pidtune(G,'PID');

% Define the setpoint value
setpoint = 3;


% Plot the closed-loop response with setpoint
T_total = feedback(G*C,1);
step(setpoint*T_total);