title: Matlab sisotool steady state error
body: <p>I'm trying to use sisotool to design a controller for a flight control class. <code>G=1/((s+0.1)(s+0.5))</code> and <code>H=1/(s+1)</code>. Steady state error must be 0, rise time must be &lt; 10 seconds, and max overshoot must be &lt; 10%. So I set it up as follows:</p>
  
  <pre><code>% set up dynamic
  gNum = [1];
  gDen = conv([1 .1],[1 .5]);
  G = tf(gNum,gDen)
  
  % set up sensor
  hNum = [1];
  hDen = [1 0];
  H = tf(hNum,hDen)
  
  % find poles
  poles = roots(conv(gDen,hDen))
  
  % plot
  sisotool(G,1,H,1)
  </code></pre>
  
  <p>I loosely adjust the gain so that its stable. So right now I've got C = 0.00445. I pull up the step response plot and see that my final value is 0 and I need it at 1. I've fiddled with adding and adjusting real poles and integrators but nothing moves the final value. I'm confident I can get the rise time and overshoot parameters met but I have no idea how to get the final value to 1. The second problem in this assignment gives a final value of 10. I know I can set F = 0.1 to get that one down to 1, but I don't think we're supposed to do that.</p>