%Define the process transfer function

tau = 0.0015; % time delay
s = tf('s');
Gp = exp(-tau*s)/s^2;

% Calculate the ultimate gain and period of the ideal controller for the time-delay-free process using the standard IMC equations
Kc = 1/(tau*sqrt(2));
Pu = pi*sqrt(tau^2+4)/(2*sqrt(2));

% Modify the ultimate period to account for the time delay by adding a term proportional to the time delay
Pum = Pu*(1 + 0.2*tau/Pu);

% Calculate the tuning parameters for the actual controller
Kp = 0.6*Kc;
Ti = 0.5*Pum;
Td = 0.125*Pum;

% Define the PID controller transfer function
Gc = Kp*(1 + 1/(Ti*s) + Td*s);

% Calculate the closed-loop transfer function with set point and plot the step response

setpoint = 5; % set-point value
Gcl = (Gc*Gp)/(1+Gc*Gp); % feedback(Gc*Gp, 1);
Gcl_sp = setpoint*Gcl;
step(Gcl_sp);