I collected this data from a robot that drives with its wheels up. The blue curve is the voltage and that is my input. The orange curve is the wheel velocity and that is my output.
I want to create a transfer function for when the voltage changes from 1 volt to 2 volt, and I don't want to include the part where the robot slows down. So I cut off the data so I only look the interval [1.05 , 2] sec. I also offset these values so they both start at 0.
Now I try to estimate a transfer function for this response, with tfest(data, 1, 0) and I get $H(s) = \frac{0.3916}{s+1.202}$, which is fine I guess. However, when I plot the step response the system with this transfer function I get this.
As you can see it takes much longer time for the output to reach 0.3 m/s than in the experiment. It takes about 4 seconds for the step response to reach 0.3m/s, but in the experiment it only took 0.2 seconds.
Why is my transfer function so slow to reach the actual output value? Does it have something to do with the way I cropped the data?
Edit
Here is my MATLAB code:
close all
clear
data = load('Emilie_day4_1.txt');
% Emilie (25)
% 1 time 0.004 sec
% 2 3 Motor voltage [V] left, right: 0.00 0.00
% 4 5 Wheel velocity [m/s] left, right: -0.0000 -0.0000
figure(100)
plot(data(:,1), data(:,2))
hold on
plot(data(:,1), data(:,4))
grid on
legend('Left voltage' , 'Left Velocity')
xlabel('time (sec)')
hold off
figure(100)
plot(data(350:end-50,1), data(350:end-50,2)-1)
hold on
plot(data(350:end-50,1), data(350:end-50,4)-0.25)
grid on
legend('Left voltage' , 'Left Velocity')
xlabel('time (sec)')
hold off
ddin = (data(350:end-50,2)-1);
ddout = (data(350:end-50,4)-0.25);
idd1 = iddata(ddout, ddin, 0.05);
sys1 = tfest(idd1, 1, 0)
step(sys1)
The data is just collected in a simple text-file, but I couldn't post the text file in here so I just copied and pasted the numbers:
%% logfile from robot Emilie (25)
% Emilie (25)
% 1 time 0.001 sec
% 2 3 Motor voltage [V] left, right: 0.00 0.00
% 4 5 Wheel velocity [m/s] left, right: 0.0000 0.0000
0.001 0.00 0.00 0.0000 0.0000
0.004 0.00 0.00 0.0000 0.0000
0.007 0.00 0.00 0.0000 0.0000
0.010 0.00 0.00 0.0000 0.0000
0.013 0.00 0.00 0.0000 0.0000
0.016 0.00 0.00 0.0000 0.0000
0.019 0.00 0.00 0.0000 0.0000
0.022 0.00 0.00 0.0000 0.0000
0.025 0.00 0.00 0.0000 0.0000
0.028 0.00 0.00 0.0000 0.0000
0.031 0.00 0.00 0.0000 0.0000
0.034 0.00 0.00 0.0000 0.0000
0.037 0.00 0.00 0.0000 0.0000
0.040 0.00 0.00 0.0000 0.0000
0.043 0.00 0.00 0.0000 0.0000
0.046 0.00 0.00 0.0000 0.0000
0.049 0.00 0.00 0.0000 0.0000
0.052 1.00 1.00 0.0000 0.0000
0.055 1.00 1.00 0.0000 0.0000
0.058 1.00 1.00 0.0000 0.0000
0.061 1.00 1.00 0.0000 0.0000
0.064 1.00 1.00 0.0000 0.0000
0.067 1.00 1.00 0.0000 0.0908
0.070 1.00 1.00 0.0000 0.1229
0.073 1.00 1.00 0.0397 0.1249
0.076 1.00 1.00 0.0397 0.1504
0.079 1.00 1.00 0.0574 0.1414
0.082 1.00 1.00 0.0574 0.1498
0.085 1.00 1.00 0.0689 0.1454
0.088 1.00 1.00 0.0689 0.1747
0.091 1.00 1.00 0.0817 0.1895
0.094 1.00 1.00 0.1061 0.1748
0.097 1.00 1.00 0.1262 0.1963
0.100 1.00 1.00 0.1375 0.1963
0.103 1.00 1.00 0.1442 0.2174
0.106 1.00 1.00 0.1438 0.2187
0.109 1.00 1.00 0.1573 0.2107
0.112 1.00 1.00 0.1663 0.2128
0.115 1.00 1.00 0.1513 0.2157
0.118 1.00 1.00 0.1735 0.2439
0.121 1.00 1.00 0.1840 0.2413
0.124 1.00 1.00 0.1753 0.2621
0.127 1.00 1.00 0.1847 0.2442
0.130 1.00 1.00 0.1775 0.2279
0.133 1.00 1.00 0.1710 0.2491
0.136 1.00 1.00 0.1911 0.2390
0.139 1.00 1.00 0.1961 0.2496
0.142 1.00 1.00 0.1888 0.2448
0.145 1.00 1.00 0.2004 0.2216
0.148 1.00 1.00 0.1871 0.2796
0.151 1.00 1.00 0.1874 0.2379
0.154 1.00 1.00 0.2008 0.2463
0.157 1.00 1.00 0.1973 0.2600
0.160 1.00 1.00 0.1940 0.2540
0.164 1.00 1.00 0.1951 0.2668
0.167 1.00 1.00 0.2033 0.2471
0.170 1.00 1.00 0.2143 0.2635
0.173 1.00 1.00 0.2105 0.2455
0.176 1.00 1.00 0.2183 0.2758
0.179 1.00 1.00 0.2037 0.2520
0.182 1.00 1.00 0.2057 0.2772
0.185 1.00 1.00 0.2245 0.2991
0.188 1.00 1.00 0.2177 0.2787
0.191 1.00 1.00 0.2128 0.2950
0.194 1.00 1.00 0.2048 0.2840
0.197 1.00 1.00 0.1997 0.3047
0.200 1.00 1.00 0.2197 0.2818
0.203 1.00 1.00 0.2167 0.3006
0.206 1.00 1.00 0.2127 0.2839
0.209 1.00 1.00 0.2376 0.3096
0.212 1.00 1.00 0.1997 0.2849
0.215 1.00 1.00 0.2321 0.2769
0.218 1.00 1.00 0.2245 0.3037
0.221 1.00 1.00 0.2352 0.2593
0.224 1.00 1.00 0.2252 0.2652
0.227 1.00 1.00 0.2292 0.2788
0.230 1.00 1.00 0.2391 0.2696
0.233 1.00 1.00 0.2198 0.2829
0.236 1.00 1.00 0.2407 0.2636
0.239 1.00 1.00 0.2154 0.2830
0.242 1.00 1.00 0.2359 0.3138
0.245 1.00 1.00 0.2197 0.2894
0.248 1.00 1.00 0.2224 0.3059
0.251 1.00 1.00 0.2226 0.2915
0.254 1.00 1.00 0.2169 0.3127
0.257 1.00 1.00 0.2383 0.2907
0.260 1.00 1.00 0.2305 0.2910
0.263 1.00 1.00 0.2417 0.2826
0.266 1.00 1.00 0.2213 0.2645
0.269 1.00 1.00 0.2285 0.2668
0.272 1.00 1.00 0.2370 0.2852
0.275 1.00 1.00 0.2330 0.2695
0.278 1.00 1.00 0.2401 0.2794
0.281 1.00 1.00 0.2153 0.2733
0.284 1.00 1.00 0.2344 0.2465
0.287 1.00 1.00 0.2308 0.3151
0.290 1.00 1.00 0.2237 0.2876
0.293 1.00 1.00 0.2501 0.3079
0.296 1.00 1.00 0.2223 0.2894
0.299 1.00 1.00 0.2415 0.3145
0.302 1.00 1.00 0.2321 0.2893
0.305 1.00 1.00 0.2425 0.2862
0.308 1.00 1.00 0.2321 0.2627
0.311 1.00 1.00 0.2352 0.2956
0.314 1.00 1.00 0.2441 0.2679
0.317 1.00 1.00 0.2240 0.2975
0.320 1.00 1.00 0.2431 0.2758
0.323 1.00 1.00 0.2172 0.2927
0.326 1.00 1.00 0.2376 0.3086
0.329 1.00 1.00 0.2205 0.2960
0.332 1.00 1.00 0.2236 0.3158
0.335 1.00 1.00 0.2228 0.2928
0.338 1.00 1.00 0.2284 0.3109
0.341 1.00 1.00 0.2383 0.2925
0.344 1.00 1.00 0.2301 0.2837
0.347 1.00 1.00 0.2328 0.2774
0.350 1.00 1.00 0.2134 0.2498
0.353 1.00 1.00 0.2213 0.3078
0.356 1.00 1.00 0.2308 0.2575
0.359 1.00 1.00 0.2269 0.2652
0.362 1.00 1.00 0.2377 0.2778
0.365 1.00 1.00 0.2206 0.3117
0.368 1.00 1.00 0.2407 0.2857
0.371 1.00 1.00 0.2368 0.3054
0.374 1.00 1.00 0.2294 0.2908
0.377 1.00 1.00 0.2562 0.3133
0.380 1.00 1.00 0.2131 0.2895
0.383 1.00 1.00 0.2511 0.3067
0.386 1.00 1.00 0.2299 0.2738
0.389 1.00 1.00 0.2409 0.2777
0.392 1.00 1.00 0.2199 0.2647
0.395 1.00 1.00 0.2337 0.2802
0.398 1.00 1.00 0.2432 0.2883
0.401 1.00 1.00 0.2234 0.2711
0.404 1.00 1.00 0.2271 0.3129
0.407 1.00 1.00 0.2175 0.2945
0.410 1.00 1.00 0.2372 0.3200
0.413 1.00 1.00 0.2273 0.2948
0.416 1.00 1.00 0.2241 0.3121
0.419 1.00 1.00 0.2240 0.2987
0.422 1.00 1.00 0.2301 0.2653
0.425 1.00 1.00 0.2347 0.2726
0.428 1.00 1.00 0.2328 0.2853
0.431 1.00 1.00 0.2451 0.2755
0.434 1.00 1.00 0.2271 0.2881
0.437 1.00 1.00 0.2462 0.2692
0.440 1.00 1.00 0.2405 0.2865
0.443 1.00 1.00 0.2376 0.3098
0.446 1.00 1.00 0.2295 0.2859
0.449 1.00 1.00 0.2363 0.3028
0.452 1.00 1.00 0.2424 0.2884
0.455 1.00 1.00 0.2300 0.3099
0.458 1.00 1.00 0.2410 0.2893
0.461 1.00 1.00 0.2229 0.2883
0.464 1.00 1.00 0.2096 0.2850
0.467 1.00 1.00 0.2487 0.2675
0.470 1.00 1.00 0.2200 0.2688
0.473 1.00 1.00 0.2336 0.2883
0.476 1.00 1.00 0.2228 0.2722
0.479 1.00 1.00 0.2464 0.2839
0.482 1.00 1.00 0.2343 0.3106
0.485 1.00 1.00 0.2457 0.2991
0.488 1.00 1.00 0.2293 0.3208
0.491 1.00 1.00 0.2273 0.2938
0.494 1.00 1.00 0.2241 0.3126
0.497 1.00 1.00 0.2304 0.2937
0.500 1.00 1.00 0.2408 0.2892
0.503 1.00 1.00 0.2216 0.2700
0.506 1.00 1.00 0.2423 0.2886
0.509 1.00 1.00 0.2374 0.2661
0.512 1.00 1.00 0.2416 0.2985
0.515 1.00 1.00 0.2256 0.3036
0.518 1.00 1.00 0.2325 0.2890
0.521 1.00 1.00 0.2451 0.3103
0.524 1.00 1.00 0.2373 0.2896
0.527 1.00 1.00 0.2440 0.3060
0.530 1.00 1.00 0.2240 0.2934
0.533 1.00 1.00 0.2430 0.3114
0.536 1.00 1.00 0.2386 0.2866
0.539 1.00 1.00 0.2269 0.2885
0.542 1.00 1.00 0.2510 0.2719
0.545 1.00 1.00 0.2165 0.2828
0.548 1.00 1.00 0.2430 0.2751
0.551 1.00 1.00 0.2331 0.2492
0.554 1.00 1.00 0.2446 0.3092
0.557 1.00 1.00 0.2251 0.2908
0.560 1.00 1.00 0.2380 0.3106
0.563 1.00 1.00 0.2467 0.2918
0.566 1.00 1.00 0.2268 0.3170
0.569 1.00 1.00 0.2309 0.2913
0.572 1.00 1.00 0.2204 0.3098
0.575 1.00 1.00 0.2401 0.2785
0.578 1.00 1.00 0.2295 0.2969
0.581 1.00 1.00 0.2260 0.2701
0.584 1.00 1.00 0.2264 0.2996
0.587 1.00 1.00 0.2317 0.2778
0.591 1.00 1.00 0.2360 0.2950
0.594 1.00 1.00 0.2409 0.3108
0.597 1.00 1.00 0.2251 0.2924
0.600 1.00 1.00 0.2273 0.2713
0.603 1.00 1.00 0.2466 0.2740
0.606 1.00 1.00 0.2370 0.2915
0.609 1.00 1.00 0.2446 0.2747
0.612 1.00 1.00 0.2240 0.2852
0.615 1.00 1.00 0.2372 0.3111
0.618 1.00 1.00 0.2383 0.2986
0.621 1.00 1.00 0.2308 0.3203
0.624 1.00 1.00 0.2584 0.2930
0.627 1.00 1.00 0.2296 0.3127
0.630 1.00 1.00 0.2488 0.2937
0.633 1.00 1.00 0.2382 0.2833
0.636 1.00 1.00 0.2491 0.2640
0.639 1.00 1.00 0.2277 0.2829
0.642 1.00 1.00 0.2420 0.2611
0.645 1.00 1.00 0.2503 0.2932
0.648 1.00 1.00 0.2294 0.2664
0.651 1.00 1.00 0.2274 0.2963
0.654 1.00 1.00 0.2167 0.3135
0.657 1.00 1.00 0.2369 0.2915
0.660 1.00 1.00 0.2268 0.3078
0.663 1.00 1.00 0.2234 0.2952
0.666 1.00 1.00 0.2234 0.3151
0.669 1.00 1.00 0.2297 0.2917
0.672 1.00 1.00 0.2346 0.2886
0.675 1.00 1.00 0.2321 0.2732
0.678 1.00 1.00 0.2446 0.2832
0.681 1.00 1.00 0.2278 0.2770
0.684 1.00 1.00 0.2487 0.2498
0.687 1.00 1.00 0.2435 0.3118
0.690 1.00 1.00 0.2420 0.2928
0.693 1.00 1.00 0.2324 0.3118
0.696 1.00 1.00 0.2395 0.2926
0.699 1.00 1.00 0.2407 0.3187
0.702 1.00 1.00 0.2381 0.2935
0.705 1.00 1.00 0.2510 0.3116
0.708 1.00 1.00 0.2313 0.2741
0.711 1.00 1.00 0.2513 0.2977
0.714 1.00 1.00 0.2397 0.2708
0.717 1.00 1.00 0.2264 0.3010
0.720 1.00 1.00 0.2346 0.2780
0.723 1.00 1.00 0.2384 0.2959
0.726 1.00 1.00 0.2478 0.3117
0.729 1.00 1.00 0.2355 0.2984
0.732 1.00 1.00 0.2477 0.3182
0.735 1.00 1.00 0.2202 0.2948
0.738 1.00 1.00 0.2398 0.3135
0.741 1.00 1.00 0.2235 0.2750
0.744 1.00 1.00 0.2263 0.2857
0.747 1.00 1.00 0.2259 0.2783
0.750 1.00 1.00 0.2204 0.2503
0.753 1.00 1.00 0.2414 0.3113
0.756 1.00 1.00 0.2340 0.2612
0.759 1.00 1.00 0.2455 0.3073
0.762 1.00 1.00 0.2277 0.2887
0.765 1.00 1.00 0.2329 0.3137
0.768 1.00 1.00 0.2424 0.2886
0.771 1.00 1.00 0.2398 0.3066
0.774 1.00 1.00 0.2304 0.2923
0.777 1.00 1.00 0.2240 0.3145
0.780 1.00 1.00 0.2433 0.2762
0.783 1.00 1.00 0.2361 0.2977
0.786 1.00 1.00 0.2497 0.2755
0.789 1.00 1.00 0.2304 0.2787
0.792 1.00 1.00 0.2163 0.2650
0.795 1.00 1.00 0.2562 0.2809
0.798 1.00 1.00 0.2257 0.3175
0.801 1.00 1.00 0.2399 0.2948
0.804 1.00 1.00 0.2293 0.3149
0.807 1.00 1.00 0.2529 0.2965
0.810 1.00 1.00 0.2400 0.3218
0.813 1.00 1.00 0.2521 0.2918
0.816 1.00 1.00 0.2248 0.2529
0.819 1.00 1.00 0.2324 0.3147
0.822 1.00 1.00 0.2271 0.2673
0.825 1.00 1.00 0.2295 0.2746
0.828 1.00 1.00 0.2301 0.2876
0.831 1.00 1.00 0.2240 0.3205
0.834 1.00 1.00 0.2449 0.2934
0.837 1.00 1.00 0.2366 0.3129
0.840 1.00 1.00 0.2486 0.2973
0.843 1.00 1.00 0.2283 0.3174
0.846 1.00 1.00 0.2349 0.2853
0.849 1.00 1.00 0.2441 0.2925
0.852 1.00 1.00 0.2419 0.2717
0.855 1.00 1.00 0.2315 0.2743
0.858 1.00 1.00 0.2257 0.2620
0.861 1.00 1.00 0.2445 0.2770
0.864 1.00 1.00 0.2369 0.2857
0.867 1.00 1.00 0.2501 0.2682
0.871 1.00 1.00 0.2307 0.3120
0.874 1.00 1.00 0.2502 0.2949
0.877 1.00 1.00 0.2397 0.2878
0.880 1.00 1.00 0.2481 0.2798
0.883 1.00 1.00 0.2370 0.2530
0.886 1.00 1.00 0.2416 0.3145
0.889 1.00 1.00 0.2502 0.2677
0.892 1.00 1.00 0.2299 0.3145
0.895 1.00 1.00 0.2345 0.2952
0.898 1.00 1.00 0.2236 0.3205
0.901 1.00 1.00 0.2431 0.2943
0.904 1.00 1.00 0.2320 0.3036
0.907 1.00 1.00 0.2293 0.2895
0.910 1.00 1.00 0.2291 0.2917
0.913 1.00 1.00 0.2349 0.2645
0.916 1.00 1.00 0.2393 0.2947
0.919 1.00 1.00 0.2366 0.2741
0.922 1.00 1.00 0.2489 0.2761
0.925 1.00 1.00 0.2306 0.2636
0.928 1.00 1.00 0.2495 0.2788
0.931 1.00 1.00 0.2401 0.3141
0.934 1.00 1.00 0.2423 0.2910
0.937 1.00 1.00 0.2328 0.3103
0.940 1.00 1.00 0.2391 0.2930
0.943 1.00 1.00 0.2405 0.3189
0.946 1.00 1.00 0.2332 0.2939
0.949 1.00 1.00 0.2511 0.2702
0.952 1.00 1.00 0.2324 0.3121
0.955 1.00 1.00 0.2526 0.2657
0.958 1.00 1.00 0.2419 0.2725
0.961 1.00 1.00 0.2534 0.2874
0.964 1.00 1.00 0.2415 0.2767
0.967 1.00 1.00 0.2452 0.2940
0.970 1.00 1.00 0.2536 0.3127
0.973 1.00 1.00 0.2332 0.2978
0.976 1.00 1.00 0.2363 0.3199
0.979 1.00 1.00 0.2236 0.2952
0.982 1.00 1.00 0.2424 0.3018
0.985 1.00 1.00 0.2319 0.2792
0.988 1.00 1.00 0.2422 0.2816
0.991 1.00 1.00 0.2284 0.2642
0.994 1.00 1.00 0.2346 0.2791
0.997 1.00 1.00 0.2393 0.2871
1.000 1.00 1.00 0.2452 0.2874
1.003 1.00 1.00 0.2413 0.3057
1.006 1.00 1.00 0.2319 0.2880
1.009 1.00 1.00 0.2510 0.3136
1.012 1.00 1.00 0.2424 0.2885
1.015 1.00 1.00 0.2510 0.3051
1.018 1.00 1.00 0.2354 0.2941
1.021 1.00 1.00 0.2422 0.2751
1.024 1.00 1.00 0.2426 0.2691
1.027 1.00 1.00 0.2350 0.2822
1.030 1.00 1.00 0.2632 0.2731
1.033 1.00 1.00 0.2297 0.2878
1.036 1.00 1.00 0.2535 0.2684
1.039 1.00 1.00 0.2353 0.2884
1.042 1.00 1.00 0.2448 0.3196
1.045 1.00 1.00 0.2245 0.2955
1.048 1.00 1.00 0.2386 0.3121
1.051 1.00 1.00 0.2478 0.2965
1.054 2.00 2.00 0.2293 0.3143
1.057 2.00 2.00 0.2516 0.2898
1.060 2.00 2.00 0.2757 0.3272
1.063 2.00 2.00 0.2849 0.3839
1.066 2.00 2.00 0.3042 0.3549
1.069 2.00 2.00 0.3231 0.4066
1.072 2.00 2.00 0.3523 0.4087
1.075 2.00 2.00 0.3621 0.4636
1.078 2.00 2.00 0.3630 0.4676
1.081 2.00 2.00 0.3909 0.4542
1.084 2.00 2.00 0.4140 0.4737
1.087 2.00 2.00 0.4162 0.4757
1.090 2.00 2.00 0.4087 0.4932
1.093 2.00 2.00 0.4577 0.5175
1.096 2.00 2.00 0.4504 0.5372
1.099 2.00 2.00 0.4106 0.5051
1.102 2.00 2.00 0.4644 0.5224
1.105 2.00 2.00 0.4487 0.5082
1.109 2.00 2.00 0.4709 0.5515
1.112 2.00 2.00 0.4636 0.5599
1.115 2.00 2.00 0.4666 0.5718
1.118 2.00 2.00 0.4799 0.5362
1.121 2.00 2.00 0.4752 0.5390
1.124 2.00 2.00 0.5014 0.5386
1.127 2.00 2.00 0.5001 0.6373
1.131 2.00 2.00 0.4996 0.6026
1.134 2.00 2.00 0.5035 0.6069
1.137 2.00 2.00 0.5089 0.5909
1.140 2.00 2.00 0.4959 0.5704
1.143 2.00 2.00 0.5338 0.6637
1.146 2.00 2.00 0.5158 0.6623
1.149 2.00 2.00 0.4965 0.5639
1.152 2.00 2.00 0.5194 0.6177
1.155 2.00 2.00 0.5280 0.6263
1.158 2.00 2.00 0.5082 0.5601
1.161 2.00 2.00 0.5355 0.5763
1.164 2.00 2.00 0.5304 0.6717
1.167 2.00 2.00 0.5357 0.6070
1.170 2.00 2.00 0.5880 0.5838
1.173 2.00 2.00 0.5691 0.6339
1.176 2.00 2.00 0.5479 0.6030
1.179 2.00 2.00 0.5642 0.6874
1.182 2.00 2.00 0.5465 0.6917
1.185 2.00 2.00 0.5378 0.6354
1.188 2.00 2.00 0.5355 0.6504
1.191 2.00 2.00 0.5445 0.6041
1.194 2.00 2.00 0.5423 0.6959
1.197 2.00 2.00 0.5481 0.6968
1.200 2.00 2.00 0.5444 0.6076
1.203 2.00 2.00 0.5413 0.6570
1.206 2.00 2.00 0.5139 0.6219
1.209 2.00 2.00 0.5253 0.7094
1.212 2.00 2.00 0.5792 0.6432
1.215 2.00 2.00 0.5288 0.6444
1.218 2.00 2.00 0.5595 0.6562
1.221 2.00 2.00 0.5804 0.5991
1.224 2.00 2.00 0.5846 0.6884
1.227 2.00 2.00 0.5808 0.6301
1.230 2.00 2.00 0.5813 0.6558
1.233 2.00 2.00 0.5826 0.6540
1.236 2.00 2.00 0.5548 0.6209
1.239 2.00 2.00 0.6101 0.7041
1.242 2.00 2.00 0.5892 0.6479
1.245 2.00 2.00 0.5673 0.6582
1.248 2.00 2.00 0.5821 0.5861
1.251 2.00 2.00 0.5500 0.7047
1.254 2.00 2.00 0.5530 0.6325
1.257 2.00 2.00 0.5504 0.6421
1.260 2.00 2.00 0.5564 0.6674
1.263 2.00 2.00 0.5681 0.6137
1.266 2.00 2.00 0.5749 0.7109
1.269 2.00 2.00 0.5885 0.6008
1.272 2.00 2.00 0.5492 0.6658
1.275 2.00 2.00 0.5944 0.6148
1.278 2.00 2.00 0.5966 0.7146
1.281 2.00 2.00 0.6011 0.6755
1.284 2.00 2.00 0.5871 0.6505
1.288 2.00 2.00 0.5568 0.6991
1.291 2.00 2.00 0.5541 0.6584
1.294 2.00 2.00 0.5749 0.6584
1.297 2.00 2.00 0.5651 0.6876
1.300 2.00 2.00 0.5667 0.7106
1.303 2.00 2.00 0.5861 0.6928
1.306 2.00 2.00 0.5916 0.6581
1.309 2.00 2.00 0.5913 0.6701
1.312 2.00 2.00 0.5959 0.6240
1.315 2.00 2.00 0.5986 0.7142
1.318 2.00 2.00 0.5665 0.6175
1.321 2.00 2.00 0.5437 0.6711
1.324 2.00 2.00 0.5640 0.6328
1.327 2.00 2.00 0.5715 0.7126
1.330 2.00 2.00 0.5614 0.6501
1.333 2.00 2.00 0.5665 0.6568
1.336 2.00 2.00 0.5616 0.5812
1.339 2.00 2.00 0.5541 0.7039
1.342 2.00 2.00 0.5274 0.6828
1.345 2.00 2.00 0.5266 0.6405
1.348 2.00 2.00 0.5720 0.6657
1.351 2.00 2.00 0.5301 0.6129
1.354 2.00 2.00 0.5938 0.7110
1.357 2.00 2.00 0.5940 0.6009
1.360 2.00 2.00 0.5928 0.6671
1.364 2.00 2.00 0.5596 0.7059
1.367 2.00 2.00 0.5613 0.6778
1.370 2.00 2.00 0.5577 0.6711
1.373 2.00 2.00 0.5513 0.6084
1.376 2.00 2.00 0.5234 0.7187
1.379 2.00 2.00 0.5350 0.6761
1.382 2.00 2.00 0.6017 0.6708
1.385 2.00 2.00 0.5971 0.6970
1.388 2.00 2.00 0.5887 0.7228
1.391 2.00 2.00 0.5840 0.6568
1.394 2.00 2.00 0.5851 0.6669
1.397 2.00 2.00 0.5405 0.6160
1.400 2.00 2.00 0.5664 0.7002
1.403 2.00 2.00 0.5624 0.6373
1.406 2.00 2.00 0.5741 0.6635
1.409 2.00 2.00 0.5610 0.6610
1.412 2.00 2.00 0.5630 0.6260
1.415 2.00 2.00 0.5584 0.7143
1.418 2.00 2.00 0.5468 0.6544
1.421 2.00 2.00 0.5847 0.6662
1.424 2.00 2.00 0.5579 0.5906
1.427 2.00 2.00 0.5795 0.7140
1.430 2.00 2.00 0.5922 0.6411
1.434 2.00 2.00 0.5694 0.7168
1.437 2.00 2.00 0.5571 0.6998
1.440 2.00 2.00 0.5583 0.6515
1.443 2.00 2.00 0.5574 0.6808
1.446 2.00 2.00 0.5598 0.6153
1.449 2.00 2.00 0.5909 0.7078
1.452 2.00 2.00 0.5470 0.6501
1.455 2.00 2.00 0.5778 0.6619
1.458 2.00 2.00 0.5970 0.6164
1.461 2.00 2.00 0.5961 0.7057
1.464 2.00 2.00 0.5960 0.6123
1.467 2.00 2.00 0.5974 0.6660
1.470 2.00 2.00 0.5673 0.6679
1.473 2.00 2.00 0.5742 0.6982
1.476 2.00 2.00 0.6237 0.7223
1.479 2.00 2.00 0.5647 0.6604
1.482 2.00 2.00 0.5544 0.6732
1.485 2.00 2.00 0.5557 0.6238
1.488 2.00 2.00 0.5510 0.7142
1.491 2.00 2.00 0.5540 0.6522
1.494 2.00 2.00 0.5818 0.6760
1.497 2.00 2.00 0.5820 0.6182
1.500 2.00 2.00 0.5710 0.7168
1.503 2.00 2.00 0.5960 0.6000
1.506 2.00 2.00 0.5965 0.6682
1.509 2.00 2.00 0.6013 0.6106
1.512 2.00 2.00 0.6040 0.7150
1.515 2.00 2.00 0.5792 0.6926
1.518 2.00 2.00 0.5953 0.6714
1.521 2.00 2.00 0.5609 0.6479
1.524 2.00 2.00 0.5640 0.7129
1.527 2.00 2.00 0.5614 0.6487
1.530 2.00 2.00 0.5895 0.6795
1.533 2.00 2.00 0.5751 0.6628
1.536 2.00 2.00 0.5828 0.6205
1.539 2.00 2.00 0.5943 0.7020
1.542 2.00 2.00 0.5976 0.6825
1.545 2.00 2.00 0.5968 0.6732
1.548 2.00 2.00 0.6012 0.6104
1.551 2.00 2.00 0.5904 0.7189
1.554 2.00 2.00 0.5704 0.6761
1.557 2.00 2.00 0.5461 0.6743
1.560 2.00 2.00 0.5583 0.7013
1.563 2.00 2.00 0.5605 0.7250
1.566 2.00 2.00 0.5612 0.6600
1.569 2.00 2.00 0.5667 0.6726
1.572 2.00 2.00 0.5947 0.6217
1.575 2.00 2.00 0.5557 0.7156
1.578 2.00 2.00 0.5287 0.6514
1.581 2.00 2.00 0.6010 0.6753
1.584 2.00 2.00 0.6067 0.6203
1.587 2.00 2.00 0.6085 0.7090
1.590 2.00 2.00 0.5487 0.6034
1.593 2.00 2.00 0.5704 0.6674
1.596 2.00 2.00 0.5740 0.6147
1.599 2.00 2.00 0.5636 0.7141
1.602 2.00 2.00 0.5686 0.6891
1.605 2.00 2.00 0.5642 0.6689
1.608 2.00 2.00 0.5572 0.6457
1.611 2.00 2.00 0.5303 0.7191
1.614 2.00 2.00 0.5408 0.6689
1.617 2.00 2.00 0.6085 0.5744
1.620 2.00 2.00 0.6088 0.6686
1.623 2.00 2.00 0.6046 0.6010
1.626 2.00 2.00 0.5738 0.6960
1.629 2.00 2.00 0.5775 0.6636
1.632 2.00 2.00 0.5554 0.6585
1.635 2.00 2.00 0.5713 0.6003
1.638 2.00 2.00 0.5695 0.6391
1.641 2.00 2.00 0.5688 0.7159
1.644 2.00 2.00 0.5346 0.6484
1.647 2.00 2.00 0.5470 0.6732
1.650 2.00 2.00 0.5998 0.6213
1.653 2.00 2.00 0.6094 0.7195
1.656 2.00 2.00 0.6059 0.6596
1.659 2.00 2.00 0.6055 0.6560
1.662 2.00 2.00 0.5733 0.6121
1.665 2.00 2.00 0.5559 0.7014
1.668 2.00 2.00 0.5814 0.6353
1.671 2.00 2.00 0.5676 0.6637
1.674 2.00 2.00 0.5694 0.6635
1.677 2.00 2.00 0.5672 0.6924
1.680 2.00 2.00 0.5429 0.7144
1.683 2.00 2.00 0.6010 0.6521
1.687 2.00 2.00 0.5761 0.5899
1.690 2.00 2.00 0.5529 0.6909
1.693 2.00 2.00 0.5620 0.6376
1.696 2.00 2.00 0.5688 0.6730
1.699 2.00 2.00 0.5673 0.6231
1.702 2.00 2.00 0.5785 0.7220
1.705 2.00 2.00 0.5956 0.5753
1.708 2.00 2.00 0.5556 0.6613
1.711 2.00 2.00 0.5990 0.6157
1.714 2.00 2.00 0.6022 0.7167
1.717 2.00 2.00 0.6049 0.6775
1.720 2.00 2.00 0.5927 0.6669
1.723 2.00 2.00 0.5506 0.6042
1.726 2.00 2.00 0.5737 0.7110
1.729 2.00 2.00 0.5794 0.6635
1.732 2.00 2.00 0.5702 0.6689
1.735 2.00 2.00 0.5742 0.6960
1.738 2.00 2.00 0.6039 0.6219
1.741 2.00 2.00 0.5636 0.7241
1.744 2.00 2.00 0.5358 0.6628
1.747 2.00 2.00 0.6091 0.6723
1.750 2.00 2.00 0.6152 0.6247
1.753 2.00 2.00 0.6116 0.7149
1.756 2.00 2.00 0.5485 0.6219
1.759 2.00 2.00 0.5713 0.6723
1.762 2.00 2.00 0.5753 0.6353
1.765 2.00 2.00 0.5645 0.7194
1.768 2.00 2.00 0.5703 0.6566
1.771 2.00 2.00 0.5664 0.6671
1.774 2.00 2.00 0.5584 0.5943
1.777 2.00 2.00 0.5317 0.7157
1.780 2.00 2.00 0.5424 0.6404
1.783 2.00 2.00 0.6111 0.6750
1.786 2.00 2.00 0.6086 0.6248
1.789 2.00 2.00 0.6061 0.7233
1.792 2.00 2.00 0.5731 0.5782
1.795 2.00 2.00 0.5775 0.6727
1.798 2.00 2.00 0.5566 0.6226
1.801 2.00 2.00 0.5708 0.7199
1.804 2.00 2.00 0.5676 0.6838
1.807 2.00 2.00 0.5698 0.6780
1.810 2.00 2.00 0.5333 0.6132
1.813 2.00 2.00 0.5421 0.7230
1.816 2.00 2.00 0.6121 0.6809
1.819 2.00 2.00 0.6086 0.6781
1.822 2.00 2.00 0.6088 0.7065
1.825 2.00 2.00 0.5742 0.7293
1.828 2.00 2.00 0.5801 0.6638
1.831 2.00 2.00 0.5569 0.6798
1.834 2.00 2.00 0.5684 0.6262
1.837 2.00 2.00 0.5628 0.7221
1.840 2.00 2.00 0.5645 0.6566
1.843 2.00 2.00 0.5476 0.6813
1.846 2.00 2.00 0.5411 0.6232
1.849 2.00 2.00 0.5978 0.7232
1.852 2.00 2.00 0.6063 0.6139
1.855 2.00 2.00 0.6056 0.6765
1.858 2.00 2.00 0.6042 0.6212
1.861 2.00 2.00 0.6029 0.7270
1.864 2.00 2.00 0.5560 0.6997
1.867 2.00 2.00 0.5806 0.6804
1.870 2.00 2.00 0.5791 0.6442
1.873 2.00 2.00 0.5736 0.7152
1.876 2.00 2.00 0.5717 0.6463
1.879 2.00 2.00 0.5473 0.6708
1.882 2.00 2.00 0.6091 0.6385
1.885 2.00 2.00 0.5585 0.7302
1.889 2.00 2.00 0.5572 0.6821
1.892 2.00 2.00 0.5690 0.6292
1.895 2.00 2.00 0.5740 0.7076
1.898 2.00 2.00 0.5669 0.6580
1.901 2.00 2.00 0.5835 0.6742
1.904 2.00 2.00 0.6000 0.6144
1.907 2.00 2.00 0.5599 0.7120
1.910 2.00 2.00 0.6051 0.6060
1.913 2.00 2.00 0.6064 0.6695
1.916 2.00 2.00 0.6118 0.6161
1.920 2.00 2.00 0.5642 0.6738
1.923 2.00 2.00 0.5669 0.6268
1.926 2.00 2.00 0.5930 0.7168
1.929 2.00 2.00 0.5934 0.6222
1.932 2.00 2.00 0.6079 0.6747
1.935 2.00 2.00 0.6083 0.6395
1.938 2.00 2.00 0.6080 0.7273
1.941 2.00 2.00 0.6365 0.6669
1.944 2.00 2.00 0.6122 0.6757
1.947 2.00 2.00 0.5706 0.6008
1.950 2.00 2.00 0.5711 0.7236
1.953 2.00 2.00 0.5679 0.6458
1.956 2.00 2.00 0.5713 0.6822
1.959 2.00 2.00 0.6018 0.6313
1.963 2.00 2.00 0.5602 0.6792
1.966 2.00 2.00 0.5852 0.6839
1.969 2.00 2.00 0.5728 0.7309
1.972 2.00 2.00 0.5722 0.6685
1.975 2.00 2.00 0.5717 0.6825
1.978 2.00 2.00 0.5458 0.6258
1.981 2.00 2.00 0.6008 0.7233
1.984 2.00 2.00 0.6077 0.6581
1.987 2.00 2.00 0.6058 0.6804
1.990 2.00 2.00 0.6054 0.6226
1.993 2.00 2.00 0.5923 0.7212
1.996 2.00 2.00 0.5560 0.6096
1.999 2.00 2.00 0.5834 0.6757
2.002 2.00 2.00 0.5731 0.6192
2.005 2.00 2.00 0.5793 0.7237
2.008 2.00 2.00 0.5742 0.6983
2.011 2.00 2.00 0.5486 0.6779
2.014 2.00 2.00 0.6115 0.6543
2.017 2.00 2.00 0.6143 0.7290
2.020 2.00 2.00 0.6115 0.6500
2.023 2.00 2.00 0.6122 0.6829
2.026 2.00 2.00 0.5843 0.6303
2.029 2.00 2.00 0.5632 0.7281
2.032 2.00 2.00 0.5786 0.6691
2.035 2.00 2.00 0.5708 0.6807
2.038 2.00 2.00 0.5686 0.6316
2.041 2.00 2.00 0.5540 0.7232
2.044 2.00 2.00 0.5433 0.6280
2.047 2.00 2.00 0.6024 0.6786
2.050 2.00 2.00 0.6177 0.6428
2.053 2.00 2.00 0.6196 0.7314
2.056 0.00 0.00 0.6113 0.6595
2.059 0.00 0.00 0.5379 0.6287
2.062 0.00 0.00 0.5355 0.5808
2.065 0.00 0.00 0.4798 0.5422
2.068 0.00 0.00 0.4367 0.5014
2.071 0.00 0.00 0.3905 0.4519
2.074 0.00 0.00 0.3753 0.4089
2.077 0.00 0.00 0.3650 0.4216
2.080 0.00 0.00 0.3180 0.3699
2.083 0.00 0.00 0.3158 0.3248
2.086 0.00 0.00 0.2689 0.2849
2.089 0.00 0.00 0.2724 0.2777
2.092 0.00 0.00 0.2246 0.2455
2.095 0.00 0.00 0.2184 0.1980
2.098 0.00 0.00 0.2048 0.2246
2.101 0.00 0.00 0.1747 0.2179
2.104 0.00 0.00 0.1755 0.1671
After changing the sample time to 0.03 I get this step response.
data? I'm asking because it looks liketfestdoesn't get the correct information concerning the sampling instants. $\endgroup$Ts=0.05in your call toiddata. That would explain the time stretch in the step response. $\endgroup$