% Define the time delay and Laplace variable
tau = 1.5;
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;
% Define random disturbance
rng(0); % set seed for reproducibility
M = rss(3,1,1); % generate 3x1 random matrix with damping=1 and natural frequency=1
% Set up the PID controller with automatic tuning to get the disturbance signal
C2 = pidtune(M,'PID');
% Plot the closed-loop response with setpoint
T_total = feedback(G*C*C2,1);
step(setpoint*T_total);