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clcclear%The given conditionsWsc=2*pi*80;   Wob=Wsc;M=3.2; %The selected PID gains Kpv=M*Wsc;         %the proportional gains of the speed controllerKiv=0.2*Kpv*Wsc;   %the integral gains of the speed controllerKpp=Wsc/9;         %the proportional gain of the position controllerKP=Kpp*Kpv+Kiv;    %the P gains of PID controller.KI=Kpp*Kiv;        %the I gains of PID controller.KD=Kpv;            %the D gains of PID controller.%PID gains of the Disturbance ObserverLP=3*Wob^2*M;LI=Wob^3*M;LD=3*Wob*M;%disturbance compensation performance P/FdistDCAL=[M LD LP LI];DCBL=[M KD KP KI];numeL=[M LD LP 0 0];denoL=conv(DCAL,DCBL);Luen=tf(numeL,denoL);bode(Luen);grid onhold on%disturbance compensation performance of using modified observerDCAM=[M LD LP LI];DCBM=[M KD KP KI];numeM=[M LD 0 0 0];denoM=conv(DCAM,DCBM);Modi=tf(numeM,denoM);bode(Modi)%%no disturbance compensation numeN=[1 0];denoN=[M KD KP KI];No=tf(numeN,denoN);bode(No);h = findobj(gcf, 'Type','line');set(h, 'LineWidth', 2);%change linewidthtitle('bode plot:P/Fdist')legend('Luenberger observer','Modified observer','No compensation')