% 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,
xlabel={Robustness, $\Ms$},
ymin=0,
ymax=9,
ylabel={Controller $\Kc,\I,\D$},
title={Case 5, $\G_{5}(s)=\gFive$},
legend style={draw=black,fill=white,legend cell align=left}
]
\addplot [
color=blue,
dashed
]
table[row sep=crcr]{
1.24999999999995 0.407739119032656\\
1.27499999973914 0.444532419316191\\
1.29999999999997 0.481202123687753\\
1.32500000000008 0.517364256764631\\
1.35000000000407 0.55272519042051\\
1.37499999987092 0.587217937711375\\
1.39999999990689 0.620868045392009\\
1.42500000008928 0.653682281575157\\
1.44999999999363 0.685774206554902\\
1.475 0.71697297949444\\
1.50000000000002 0.747173592838429\\
1.52499999999986 0.776201983097505\\
1.5500000000001 0.803258395539418\\
1.57499999999999 0.82923220867041\\
1.59999999999685 0.854572615343269\\
1.62499999999924 0.879227207985904\\
1.6500000000069 0.903239811156005\\
1.67500000000001 0.926610501627047\\
1.69999999999972 0.949388310922334\\
1.72499999999939 0.971575995227235\\
1.74999999999942 0.993208681406164\\
1.7749999998081 1.01430400166925\\
1.79999999999593 1.03488385355215\\
1.82500000027383 1.05496358746855\\
1.85000000000005 1.07456159482146\\
1.87499999999604 1.09369019122765\\
1.89999999964293 1.11235693025412\\
1.92499999986289 1.13061397729991\\
1.95000000000415 1.14842467794293\\
1.97499999999833 1.16582994138238\\
2.00000000001601 1.18284109925344\\
2.02499999999742 1.1994595945266\\
2.04999999999983 1.21569699055636\\
2.07500000000549 1.23158066421476\\
2.09999999999949 1.24710747667941\\
2.12499999998287 1.26229769298172\\
2.14999999999513 1.27714021081129\\
2.17499999994586 1.29167315727681\\
2.2 1.30587505879786\\
2.22499999995467 1.31976982484465\\
2.24999999999945 1.33338205977846\\
2.27499999999631 1.34669460886658\\
2.29999999999404 1.35972071665332\\
2.325 1.37248056658039\\
2.35000000000186 1.38496669449397\\
2.37499999996041 1.39719126344712\\
2.39999999978304 1.40914381252262\\
2.4249999999911 1.42091266417152\\
2.45000000000201 1.43237346766909\\
2.475 1.44364041107384\\
2.49999999998868 1.45464066696768\\
2.52499999997643 1.4654155742934\\
2.54999999999916 1.47600640731802\\
2.57499999999779 1.48631530353947\\
2.59999999997555 1.49649701551139\\
2.62499999998128 1.50646224085601\\
2.64999999999955 1.5161523421356\\
2.67499999999983 1.52572650624502\\
2.69999999960876 1.5351560281752\\
2.72499999918186 1.5440471330308\\
2.74999999999456 1.55289608907738\\
2.77499999869097 1.56148500992034\\
2.79999999977675 1.56998490591319\\
2.825 1.57822878834393\\
2.85000000000924 1.58649818350152\\
2.87500000000003 1.5945037569591\\
2.89999999935778 1.60233106399221\\
2.925 1.6099947449129\\
2.95000000000001 1.61764292470094\\
2.97499999962103 1.62502282318151\\
2.99999999999522 1.63218694956019\\
};
\addlegendentry{po:pid};

\addplot [
color=green!50!black,
dashed
]
table[row sep=crcr]{
1.24999999999995 0.846377379133331\\
1.27499999973914 0.846250026145697\\
1.29999999999997 0.848012780717999\\
1.32500000000008 0.850897894625159\\
1.35000000000407 0.854326787260184\\
1.37499999987092 0.858194672671843\\
1.39999999990689 0.862621552244968\\
1.42500000008928 0.867751133897423\\
1.44999999999363 0.874105131402084\\
1.475 0.881679226095827\\
1.50000000000002 0.890378391626727\\
1.52499999999986 0.899919615423226\\
1.5500000000001 0.902462632547112\\
1.57499999999999 0.902017792791383\\
1.59999999999685 0.90219034316356\\
1.62499999999924 0.902240586878074\\
1.6500000000069 0.902411398393713\\
1.67500000000001 0.902322821159316\\
1.69999999999972 0.902361295262079\\
1.72499999999939 0.902150534850533\\
1.74999999999942 0.902017614352783\\
1.7749999998081 0.901787190987296\\
1.79999999999593 0.901665308252114\\
1.82500000027383 0.901603179560519\\
1.85000000000005 0.901500801427319\\
1.87499999999604 0.90143994218585\\
1.89999999964293 0.901439909044103\\
1.92499999986289 0.901512373594023\\
1.95000000000415 0.90157307567205\\
1.97499999999833 0.901642738083114\\
2.00000000001601 0.901764638878906\\
2.02499999999742 0.901935570167526\\
2.04999999999983 0.902234388029097\\
2.07500000000549 0.902434627789687\\
2.09999999999949 0.9027380866396\\
2.12499999998287 0.902977038858638\\
2.14999999999513 0.903397194769492\\
2.17499999994586 0.903755717870002\\
2.2 0.904188093438784\\
2.22499999995467 0.904669393716541\\
2.24999999999945 0.905102772995347\\
2.27499999999631 0.905607387734719\\
2.29999999999404 0.906181080951545\\
2.325 0.906695204809045\\
2.35000000000186 0.907292346695477\\
2.37499999996041 0.907904460108936\\
2.39999999978304 0.908570661632813\\
2.4249999999911 0.909092915268755\\
2.45000000000201 0.909881373379496\\
2.475 0.910493462301875\\
2.49999999998868 0.911262078878838\\
2.52499999997643 0.912127935015346\\
2.54999999999916 0.912814467784278\\
2.57499999999779 0.913787761130423\\
2.59999999997555 0.914525676095011\\
2.62499999998128 0.915264513994587\\
2.64999999999955 0.916304648911619\\
2.67499999999983 0.917102067242973\\
2.69999999960876 0.917780058300606\\
2.72499999918186 0.919561375964129\\
2.74999999999456 0.920891727432639\\
2.77499999869097 0.922467789632671\\
2.79999999977675 0.923771155020221\\
2.825 0.925321772909857\\
2.85000000000924 0.926379647801913\\
2.87500000000003 0.927655631291527\\
2.89999999935778 0.928995858897726\\
2.925 0.930378297701134\\
2.95000000000001 0.931399754858847\\
2.97499999962103 0.932820782644036\\
2.99999999999522 0.934283499723496\\
};
\addlegendentry{Smith:pid};

\addplot [
color=red,
dashed,
forget plot
]
table[row sep=crcr]{
1.24999999999995 0.846377925645743\\
1.27499999973914 0.846256803456381\\
1.29999999999997 0.848013164876831\\
1.32500000000008 0.850890796965757\\
1.35000000000407 0.854323860168535\\
1.37499999987092 0.858199434861492\\
1.39999999990689 0.862616326119069\\
1.42500000008928 0.867754421480102\\
1.44999999999363 0.874047677110894\\
1.475 0.881680611815439\\
1.50000000000002 0.890380476755324\\
1.52499999999986 0.899920899756272\\
1.5500000000001 0.902461498303107\\
1.57499999999999 0.902017927284485\\
1.59999999999685 0.902189617781091\\
1.62499999999924 0.902239228950225\\
1.6500000000069 0.902412404999369\\
1.67500000000001 0.90232414937878\\
1.69999999999972 0.902361148400361\\
1.72499999999939 0.902148135873406\\
1.74999999999942 0.90201717008776\\
1.7749999998081 0.901785788893735\\
1.79999999999593 0.901664092869436\\
1.82500000027383 0.901603207207124\\
1.85000000000005 0.901498973610759\\
1.87499999999604 0.901440900872732\\
1.89999999964293 0.90145887212302\\
1.92499999986289 0.901502481895315\\
1.95000000000415 0.90157149444243\\
1.97499999999833 0.901642979542961\\
2.00000000001601 0.901759899249293\\
2.02499999999742 0.901933522034536\\
2.04999999999983 0.902233652351684\\
2.07500000000549 0.90243452041517\\
2.09999999999949 0.902735172018685\\
2.12499999998287 0.902975800918676\\
2.14999999999513 0.903394996833271\\
2.17499999994586 0.903747157560579\\
2.2 0.90418623559403\\
2.22499999995467 0.904670721155031\\
2.24999999999945 0.90510159304072\\
2.27499999999631 0.905607189659965\\
2.29999999999404 0.906177986930576\\
2.325 0.906696394083211\\
2.35000000000186 0.907292782626504\\
2.37499999996041 0.907906530576207\\
2.39999999978304 0.908587385686497\\
2.4249999999911 0.909092723845683\\
2.45000000000201 0.909879297850589\\
2.475 0.91049360003122\\
2.49999999998868 0.911269872180675\\
2.52499999997643 0.912122798610076\\
2.54999999999916 0.912814122862518\\
2.57499999999779 0.913788276113144\\
2.59999999997555 0.914514632578866\\
2.62499999998128 0.915262346079605\\
2.64999999999955 0.916303392304827\\
2.67499999999983 0.917101378737614\\
2.69999999960876 0.917779966930951\\
2.72499999918186 0.919559626273921\\
2.74999999999456 0.920891357012428\\
2.77499999869097 0.922463127613305\\
2.79999999977675 0.92377038439599\\
2.825 0.925318878163252\\
2.85000000000924 0.926367405708227\\
2.87500000000003 0.927654005234665\\
2.89999999935778 0.928999864131088\\
2.925 0.930379637447286\\
2.95000000000001 0.931412430150103\\
2.97499999962103 0.932802689378889\\
2.99999999999522 0.9342822876079\\
};
\addplot [
color=blue,
solid,
forget plot
]
table[row sep=crcr]{
1.24999999999998 0.606553800652571\\
1.26000000000001 0.638902617596328\\
1.26999999999969 0.672240192086064\\
1.28000000000029 0.706972371535011\\
1.29000000000003 0.74275509398661\\
1.29999999999417 0.779522039476595\\
1.31000000053273 0.817580975282354\\
1.3200000000511 0.856827312522118\\
1.33000000003131 0.897274222131283\\
1.3400000000076 0.938892263136201\\
1.3500000000355 0.981856523543464\\
1.36000000000009 1.02611320281898\\
1.36999999999273 1.07175592309541\\
1.38000000000043 1.11904377813055\\
1.39000000000168 1.16817837516442\\
1.40000000000105 1.21824481083877\\
1.41000000457373 1.27019965072341\\
1.42000000007049 1.32428574186646\\
1.4299999999998 1.38008201123218\\
1.4400000000401 1.43759978266158\\
1.45000000017077 1.49752119951438\\
1.46000000358398 1.55938955290492\\
1.47000000223324 1.6237634161224\\
1.4800000001056 1.69014220661201\\
1.49000000570754 1.76043828612265\\
1.50000000002865 1.83150021726287\\
1.51000000010839 1.9066650980171\\
1.52000000000046 1.9847258057645\\
1.5299999999853 2.06633142278185\\
1.54000000000147 2.15062698102516\\
1.55000000000152 2.23796154715177\\
1.5599999999819 2.31628694061241\\
1.56999999999969 2.39686766072118\\
1.58000000000014 2.47966728450524\\
1.59000000000124 2.56425027566939\\
1.60000000001923 2.65126985516259\\
1.61000000002494 2.73939928694961\\
1.61999999999991 2.83048612936913\\
1.62999999997501 2.92284559120831\\
1.64000000668418 3.01848450376219\\
1.65000000000074 3.11642232949379\\
1.66000000000497 3.21818265341653\\
1.66999999999987 3.32222061010736\\
1.68000000010782 3.42952324469009\\
1.68999999988752 3.54216819741373\\
1.70000000000599 3.65803507012474\\
1.71000000011198 3.77752378280598\\
1.72000000000064 3.9041580900564\\
1.72999999999503 4.03255850260838\\
1.74000000000059 4.16855578919476\\
1.75000000275416 4.30899570860948\\
1.75999999998611 4.45754480542828\\
1.77000000040815 4.61070466944405\\
1.7800000000261 4.77221683111249\\
1.79000000006652 4.94399392840697\\
1.80000000001072 5.12258406263632\\
1.81000000005499 5.30947534699345\\
1.82000000002491 5.509679598416\\
1.83000000007182 5.72107086818845\\
1.84000000007151 5.94349702104735\\
1.85000000023924 6.18213381055059\\
1.85999999968609 6.42028228678795\\
1.86999999976077 6.69664803708592\\
1.88000000001419 6.96959179735746\\
1.8900000000476 7.26409798280345\\
1.90000000013888 7.56795233710846\\
1.91000000034899 7.879056433923\\
1.91999999999495 8.18315627918684\\
1.93000000000404 8.4540998811747\\
1.94000000796795 8.69432360841659\\
1.95000000034265 8.8364394791865\\
1.96000000017218 8.90692707492155\\
1.96999999997612 8.78650248442512\\
1.97999999994468 8.45388091850491\\
1.9899999999893 7.75467956076488\\
2.00000000000956 7.26359565043808\\
};
\addplot [
color=green!50!black,
solid,
forget plot
]
table[row sep=crcr]{
1.24999999999998 0.837600041797428\\
1.26000000000001 0.835506647339192\\
1.26999999999969 0.833710907561372\\
1.28000000000029 0.832658872295379\\
1.29000000000003 0.831829211201437\\
1.29999999999417 0.831080644744304\\
1.31000000053273 0.830743165189177\\
1.3200000000511 0.830632990682728\\
1.33000000003131 0.830714997550396\\
1.3400000000076 0.830890522363869\\
1.3500000000355 0.831305945309245\\
1.36000000000009 0.831879048871979\\
1.36999999999273 0.832585868421224\\
1.38000000000043 0.833676299509292\\
1.39000000000168 0.835238277836782\\
1.40000000000105 0.836493858495114\\
1.41000000457373 0.838054653581627\\
1.42000000007049 0.840226801095922\\
1.4299999999998 0.842460967473431\\
1.4400000000401 0.844841615804046\\
1.45000000017077 0.847727422732106\\
1.46000000358398 0.850695438901638\\
1.47000000223324 0.854111302970426\\
1.4800000001056 0.857644333229327\\
1.49000000570754 0.862307098421043\\
1.50000000002865 0.866352603849024\\
1.51000000010839 0.871266895990301\\
1.52000000000046 0.876551335224633\\
1.5299999999853 0.882469990484944\\
1.54000000000147 0.888564721178516\\
1.55000000000152 0.894878047187748\\
1.5599999999819 0.89600965169455\\
1.56999999999969 0.896989531621449\\
1.58000000000014 0.897929498572741\\
1.59000000000124 0.898498094226097\\
1.60000000001923 0.899008094815842\\
1.61000000002494 0.898934580699395\\
1.61999999999991 0.898861852097726\\
1.62999999997501 0.898235210484765\\
1.64000000668418 0.89752328213132\\
1.65000000000074 0.89678145675255\\
1.66000000000497 0.895957349063091\\
1.66999999999987 0.894778876981391\\
1.68000000010782 0.89356622871153\\
1.68999999988752 0.892564412885316\\
1.70000000000599 0.891313007480418\\
1.71000000011198 0.890061358848694\\
1.72000000000064 0.889177162910263\\
1.72999999999503 0.887813247519964\\
1.74000000000059 0.886687165002196\\
1.75000000275416 0.885547191394002\\
1.75999999998611 0.884667141075713\\
1.77000000040815 0.883422088504489\\
1.7800000000261 0.882367581512331\\
1.79000000006652 0.88187735670476\\
1.80000000001072 0.881150939707499\\
1.81000000005499 0.880236997532294\\
1.82000000002491 0.879886350161018\\
1.83000000007182 0.879624379789685\\
1.84000000007151 0.879141722961902\\
1.85000000023924 0.879354941896515\\
1.85999999968609 0.87778132938919\\
1.86999999976077 0.879405878419075\\
1.88000000001419 0.878678846309383\\
1.8900000000476 0.878865102307988\\
1.90000000013888 0.878260779368505\\
1.91000000034899 0.877033845753248\\
1.91999999999495 0.874039925088931\\
1.93000000000404 0.867953707127662\\
1.94000000796795 0.860193975176833\\
1.95000000034265 0.846703962308921\\
1.96000000017218 0.832711212428309\\
1.96999999997612 0.795970672472628\\
1.97999999994468 0.742202588664464\\
1.9899999999893 0.66186597933124\\
2.00000000000956 0.612045482702852\\
};
\addplot [
color=red,
solid,
forget plot
]
table[row sep=crcr]{
1.24999999999998 0.809731629375741\\
1.26000000000001 0.806459087387376\\
1.26999999999969 0.803494540952696\\
1.28000000000029 0.800780071188987\\
1.29000000000003 0.798160949597304\\
1.29999999999417 0.795429721017609\\
1.31000000053273 0.792939128352428\\
1.3200000000511 0.790573745242276\\
1.33000000003131 0.788310210462135\\
1.3400000000076 0.785970416426895\\
1.3500000000355 0.783681398478967\\
1.36000000000009 0.781563826143544\\
1.36999999999273 0.779229645487608\\
1.38000000000043 0.777039684114728\\
1.39000000000168 0.774844342985308\\
1.40000000000105 0.773005275550315\\
1.41000000457373 0.770754095909151\\
1.42000000007049 0.768778341162453\\
1.4299999999998 0.766613049293884\\
1.4400000000401 0.764682210151795\\
1.45000000017077 0.76260461245592\\
1.46000000358398 0.760434633444236\\
1.47000000223324 0.758203464040842\\
1.4800000001056 0.756205455918026\\
1.49000000570754 0.753711969890601\\
1.50000000002865 0.752118515706564\\
1.51000000010839 0.749635266898932\\
1.52000000000046 0.747267715430309\\
1.5299999999853 0.744844036268026\\
1.54000000000147 0.742752785145944\\
1.55000000000152 0.740783297415948\\
1.5599999999819 0.742802020311891\\
1.56999999999969 0.744669033843497\\
1.58000000000014 0.746692848060438\\
1.59000000000124 0.74887090307529\\
1.60000000001923 0.751156677068081\\
1.61000000002494 0.753962100126724\\
1.61999999999991 0.756698705074187\\
1.62999999997501 0.759955382554276\\
1.64000000668418 0.763008805852124\\
1.65000000000074 0.766658586149939\\
1.66000000000497 0.770018175124796\\
1.66999999999987 0.773806510790738\\
1.68000000010782 0.777907394859855\\
1.68999999988752 0.781641190864009\\
1.70000000000599 0.785774386906068\\
1.71000000011198 0.790481580715983\\
1.72000000000064 0.794687185636584\\
1.72999999999503 0.800114946517627\\
1.74000000000059 0.805122549071055\\
1.75000000275416 0.811004196744842\\
1.75999999998611 0.816792114921138\\
1.77000000040815 0.823448136564307\\
1.7800000000261 0.830384032687372\\
1.79000000006652 0.837656539383664\\
1.80000000001072 0.845984953860077\\
1.81000000005499 0.855234386767918\\
1.82000000002491 0.865013118081067\\
1.83000000007182 0.876018020225428\\
1.84000000007151 0.888485243164326\\
1.85000000023924 0.90253555748599\\
1.85999999968609 0.920673072486162\\
1.86999999976077 0.938908276965569\\
1.88000000001419 0.962969309431373\\
1.8900000000476 0.991238000069736\\
1.90000000013888 1.02616590414334\\
1.91000000034899 1.07005011030778\\
1.91999999999495 1.12669496570143\\
1.93000000000404 1.20245413183596\\
1.94000000796795 1.30236903043248\\
1.95000000034265 1.44012023266552\\
1.96000000017218 1.62790868686498\\
1.96999999997612 1.86030705298659\\
1.97999999994468 2.1500357623895\\
1.9899999999893 2.46463758706512\\
2.00000000000956 2.58921157211017\\
};
\end{axis}
\end{tikzpicture}%