% This file was created by matlab2tikz v0.3.3.
% Copyright (c) 2008--2013, Nico Schlmer <nico.schloemer@gmail.com>
% All rights reserved.
% 
% 
% 
\begin{tikzpicture}

\begin{axis}[%
width=6.01828521434821in,
height=4.74667979002625in,
unbounded coords=jump,
scale only axis,
xmin=1.2,
xmax=3.2,
xlabel={Robustness, $\Ms$},
ymin=0,
ymax=2.5,
ylabel={Controller $\Kc,\I,\D$},
title={Case 1, $\G_{1}(s)=\gOne$},
legend style={draw=black,fill=white,legend cell align=left}
]
\addplot [
color=blue,
dashed
]
table[row sep=crcr]{
1.25000000001112 0.234834358272771\\
1.27499999999483 0.251614258274106\\
1.29999999991172 0.268367941974208\\
1.32499999998511 0.285376801060335\\
1.34999999999996 0.30065825508749\\
1.37499999782402 0.31485830802089\\
1.39999999999998 0.329333964703089\\
1.42502065792205 0.341733788003978\\
1.44999999999983 0.356563000678907\\
1.47500000873984 0.369545051352104\\
1.49999999997956 0.399210823740791\\
1.52499998960437 0.423838714893045\\
1.54999999999998 0.449222220094335\\
1.57500993164593 0.469002087116403\\
1.59999999999401 0.490908955942016\\
1.62499999970488 0.511853434469097\\
1.65001956979194 0.532352822202814\\
1.67500326287122 0.546318221456579\\
1.70000009695391 0.56853741304486\\
1.72500548563465 0.590715524884233\\
1.75000000000012 0.611470412427452\\
1.775 0.632716963552857\\
1.80000000134915 0.651347424523744\\
1.825 0.669877402324121\\
1.85000000046112 0.691453195697143\\
1.87500000000151 0.70835243473101\\
1.9000773425616 0.725366826482893\\
1.92500088389576 0.741827306112802\\
1.95000057671854 0.756983504043014\\
1.97500000077081 0.773665083093181\\
2.00000000000199 0.791887131251451\\
2.02500452318993 0.808525857472679\\
2.05000000016272 0.821537878365362\\
2.07500000000012 0.837024186636063\\
2.10000000370727 0.849828885042662\\
2.12500000000005 0.866078033339947\\
2.15000000000376 0.878337912370526\\
2.17500001334333 0.892720294715296\\
2.20000293624143 0.906982112786164\\
2.22503404817488 0.920078364518075\\
2.25000087143776 0.930939039471816\\
2.27500000000015 0.943645025174311\\
2.30000000002115 0.958444437789754\\
2.32500000020757 0.967509336757351\\
2.35000000000025 0.978893791708938\\
2.37500000000079 0.989716992256142\\
2.40006921128569 1.00513043270544\\
2.42503955746371 1.01615909414328\\
2.45000000000004 1.02606524003689\\
2.47500000000061 1.03511234144054\\
2.50000000000241 1.04655186029549\\
2.52502494588214 1.05619016824952\\
2.5500000000008 1.06802543006777\\
2.57500000000105 1.07776937348421\\
2.60000000000442 1.0880328536956\\
2.6250037949487 1.09700953214803\\
2.65004001274844 1.10697278588503\\
2.67500000000846 1.11247648498793\\
2.70000000000238 1.12105530843203\\
2.72500000499219 1.12791892405239\\
2.75000114610608 1.14808690988994\\
2.77501025587231 1.15381305314977\\
2.80000000020125 1.16210211713633\\
2.82500000029508 1.16980040583594\\
2.85000000000007 1.17942186170998\\
2.87500018831741 1.18931242843167\\
2.90000000003815 1.1961160584189\\
2.92500197324763 1.20115108516765\\
2.950000151337 1.2066040469906\\
2.97500000000077 1.21408051765251\\
3.00000000000043 1.22118189273239\\
};
\addlegendentry{po:pi};

\addplot [
color=red,
dashed
]
table[row sep=crcr]{
1.25000000001112 1.27751606312513\\
1.27499999999483 1.26091387609429\\
1.29999999991172 1.24910410206132\\
1.32499999998511 1.24221764316711\\
1.34999999999996 1.23110470273331\\
1.37499999782402 1.21886880668335\\
1.39999999999998 1.21057744774223\\
1.42502065792205 1.19727263608252\\
1.44999999999983 1.1947812480851\\
1.47500000873984 1.18779931588332\\
1.49999999997956 1.23614478200981\\
1.52499998960437 1.26872718813997\\
1.54999999999998 1.30476992015196\\
1.57500993164593 1.32266464914685\\
1.59999999999401 1.3487712979555\\
1.62499999970488 1.37254926246037\\
1.65001956979194 1.3957708374432\\
1.67500326287122 1.39722424980995\\
1.70000009695391 1.42841430183422\\
1.72500548563465 1.46087687300213\\
1.75000000000012 1.48963326862369\\
1.775 1.52168537149808\\
1.80000000134915 1.54517149622649\\
1.825 1.56953389769131\\
1.85000000046112 1.60762104021851\\
1.87500000000151 1.6281797646014\\
1.9000773425616 1.65030979599684\\
1.92500088389576 1.67165485198643\\
1.95000057671854 1.68842708564642\\
1.97500000077081 1.71306824130068\\
2.00000000000199 1.74613069442223\\
2.02500452318993 1.77361088190205\\
2.05000000016272 1.7853894237525\\
2.07500000000012 1.81003943630526\\
2.10000000370727 1.82299771960329\\
2.12500000000005 1.85402500749101\\
2.15000000000376 1.86651146323663\\
2.17500001334333 1.89085588233059\\
2.20000293624143 1.91594732731823\\
2.22503404817488 1.9361653431361\\
2.25000087143776 1.94567893785228\\
2.27500000000015 1.96608054989735\\
2.30000000002115 1.99935478563893\\
2.32500000020757 2.00182019512254\\
2.35000000000025 2.01824894017851\\
2.37500000000079 2.03251620159681\\
2.40006921128569 2.07456264921232\\
2.42503955746371 2.09244572967057\\
2.45000000000004 2.10458034799204\\
2.47500000000061 2.11232983442389\\
2.50000000000241 2.13571266257426\\
2.52502494588214 2.14892747271246\\
2.5500000000008 2.17718959738309\\
2.57500000000105 2.19315605669635\\
2.60000000000442 2.21353387021112\\
2.6250037949487 2.22638560445927\\
2.65004001274844 2.24674187411076\\
2.67500000000846 2.23802831179203\\
2.70000000000238 2.25071569063833\\
2.72500000499219 2.25264185821811\\
2.75000114610608 2.34903569932467\\
2.77501025587231 2.34396672630317\\
2.80000000020125 2.35857667641092\\
2.82500000029508 2.36964288457477\\
2.85000000000007 2.39605144878473\\
2.87500018831741 2.42583038441969\\
2.90000000003815 2.43260604850137\\
2.92500197324763 2.42633918166268\\
2.950000151337 2.42410885280512\\
2.97500000000077 2.43822125302099\\
3.00000000000043 2.45019237680522\\
};
\addlegendentry{Smith:pi};

\addplot [
color=blue,
solid,
forget plot
]
table[row sep=crcr]{
1.24999999999994 0.314639713935091\\
1.25999999999997 0.327920017370949\\
1.26999999999999 0.341322226434488\\
1.27999999999996 0.35485486408628\\
1.29000000006915 0.368525404631678\\
1.29999999999998 0.382342683649696\\
1.30999999999999 0.396063686258838\\
1.32000000001768 0.410185215859173\\
1.33000000007096 0.424200813771072\\
1.33999999999995 0.438368951353127\\
1.35 0.452696944273963\\
1.36000000000001 0.467192026455894\\
1.370000000156 0.481862042245803\\
1.38000000001051 0.496714515067216\\
1.39000000005285 0.511398086339911\\
1.39999999999591 0.526623961404877\\
1.40999999999999 0.541666653137722\\
1.4199999999257 0.556891956157766\\
1.43 0.572725740739278\\
1.44000000002346 0.588354328251685\\
1.44999999999991 0.604185991001741\\
1.45999999999997 0.620229749102771\\
1.46999999999999 0.636009433585299\\
1.47999999999998 0.652482285500571\\
1.48999999999035 0.669188550522467\\
1.49999999994048 0.685600342033297\\
1.51000000013974 0.702779043870616\\
1.52 0.719643710850661\\
1.52999999999999 0.737323793814836\\
1.53999999999967 0.754667992883321\\
1.54999999999989 0.772253322343924\\
1.56000000000001 0.790087324590238\\
1.57000000037942 0.808177826180384\\
1.58000000000001 0.826881228352364\\
1.58999999999981 0.845677956944108\\
1.5999999997955 0.864595630150461\\
1.60999999999994 0.883250860029205\\
1.62000000067963 0.90273397871436\\
1.63000000000848 0.922520258833963\\
1.63999999998147 0.941797376099962\\
1.64999999999897 0.971660051985729\\
1.6600000013004 1.0046892742586\\
1.6699999999444 1.03813150967812\\
1.67999999999986 1.07209898467334\\
1.68999999999597 1.10645367852761\\
1.69999999999995 1.14107136641876\\
1.70999999999995 1.1757945328733\\
1.71999999999965 1.21079094621422\\
1.73000000946983 1.24589099601702\\
1.73999999999638 1.28084143971964\\
1.75000000022118 1.316181966075\\
1.75999999999998 1.35157478161773\\
1.76999999999999 1.38779131698914\\
1.77999999999989 1.42364115888112\\
1.78999999999931 1.45949734083617\\
1.79999999999998 1.49595049389318\\
1.80999999999999 1.53290016143937\\
1.81999999999998 1.57009872656263\\
1.82999999997906 1.607442153497\\
1.83999999999416 1.64474668960072\\
1.84999999999997 1.68329788373343\\
1.8599999999992 1.72225864263821\\
1.86999999999809 1.76113877053422\\
1.87999999978326 1.80116270724656\\
1.88999999999992 1.84187285469873\\
1.89999999999995 1.88293214736042\\
1.91000000014459 1.92421976900775\\
1.91999999999999 1.96640386485033\\
1.92999999999992 2.00952401208168\\
1.94000000018056 2.05352233419061\\
1.94999999992268 2.09851736026566\\
1.95999999999935 2.14450000252081\\
1.96999999999999 2.1914970622409\\
1.97999999999984 2.23882055252055\\
1.98999999997697 2.28623464366606\\
2 2.33636039835961\\
};
\addplot [
color=red,
solid,
forget plot
]
table[row sep=crcr]{
1.24999999999994 1.26347994976892\\
1.25999999999997 1.25777651494135\\
1.26999999999999 1.25235374954423\\
1.27999999999996 1.24720898913597\\
1.29000000006915 1.2423356518834\\
1.29999999999998 1.23773183015373\\
1.30999999999999 1.23261124118729\\
1.32000000001768 1.22852100698538\\
1.33000000007096 1.22388798342026\\
1.33999999999995 1.21948960420434\\
1.35 1.21532152886707\\
1.36000000000001 1.21137921883147\\
1.370000000156 1.20765971591063\\
1.38000000001051 1.20415914154868\\
1.39000000005285 1.20003138439769\\
1.39999999999591 1.1969509767547\\
1.40999999999999 1.1932229971615\\
1.4199999999257 1.18968621858744\\
1.43 1.18720536725636\\
1.44000000002346 1.18405000213923\\
1.44999999999991 1.18107406805929\\
1.45999999999997 1.17827815664151\\
1.46999999999999 1.17476633218489\\
1.47999999999998 1.17231486719688\\
1.48999999999035 1.17003366557224\\
1.49999999994048 1.16700871117522\\
1.51000000013974 1.16505486315065\\
1.52 1.16234258193736\\
1.52999999999999 1.16070438198202\\
1.53999999999967 1.15829099184201\\
1.54999999999989 1.15602057740131\\
1.56000000000001 1.15389136762773\\
1.57000000037942 1.15190185126366\\
1.58000000000001 1.15053534948355\\
1.58999999999981 1.14903926588274\\
1.5999999997955 1.14745610211739\\
1.60999999999994 1.14529134252548\\
1.62000000067963 1.14396335166786\\
1.63000000000848 1.14276298900091\\
1.63999999998147 1.14069462923874\\
1.64999999999897 1.15102660737366\\
1.6600000013004 1.1645329754805\\
1.6699999999444 1.17788534043102\\
1.67999999999986 1.19121273017357\\
1.68999999999597 1.204344461569\\
1.69999999999995 1.21712923099706\\
1.70999999999995 1.22937692933173\\
1.71999999999965 1.24128032540579\\
1.73000000946983 1.25263672300384\\
1.73999999999638 1.26315263298964\\
1.75000000022118 1.27344795992532\\
1.75999999999998 1.28313153484191\\
1.76999999999999 1.29307158143209\\
1.77999999999989 1.30191829924\\
1.78999999999931 1.31009737633696\\
1.79999999999998 1.31825951006594\\
1.80999999999999 1.32628065469734\\
1.81999999999998 1.33388223204423\\
1.82999999997906 1.34095185243305\\
1.83999999999416 1.34729687683808\\
1.84999999999997 1.35425605744507\\
1.8599999999992 1.36093302688713\\
1.86999999999809 1.36682535907777\\
1.87999999978326 1.3731620473128\\
1.88999999999992 1.37945792103204\\
1.89999999999995 1.3853654182265\\
1.91000000014459 1.39076514966085\\
1.91999999999999 1.39628536341464\\
1.92999999999992 1.40193535521551\\
1.94000000018056 1.40763323584253\\
1.94999999992268 1.41345946919554\\
1.95999999999935 1.41937487628479\\
1.96999999999999 1.42537226811276\\
1.97999999999984 1.43082802204907\\
1.98999999997697 1.4355371337845\\
2 1.44169201348949\\
};
\end{axis}
\end{tikzpicture}%