Copy and paste lines below: pkg load control; pkg load signal; s = tf('s'); format long; fsw = 500e3; VIN = 12; L = 680e-9; C = 330e-6; ESR = 4e-3; FLC = 1/(2*pi*sqrt(L*C)); FESR = 1/(2*pi*C*ESR); R3 = 5e3; R5 = (10e3/FLC)*(1/VIN)*R3; C2 = 1/(pi*R5*FLC); C3 = C2/(2*pi*R5*C2*FESR-1); R4 = R3/((fsw/(2*FLC))-1); C4 = 1/(pi*R4*fsw); Gs = (R3+R4)/(R3*R4*C3); wz1 = 1/(R5*C2); wz2 = 1/((R3+R4)*C4); wp1 = 0; wp2 = (C2+C3)/(R5*C2*C3); wp3 = 1/(R4*C4); n2 = 1; n1 = (wz1+wz2); n0 = (wz1*wz2); d1 = wp2; d0 = 0; H = (n2*s^2+n1*s+n0)/(s^2+d1*s+d0); [nums, dens] = tfdata(H); [numz, denz] = bilinear(nums, dens, 1/fsw); z1 = roots(numz)(1); z2 = roots(numz)(2); Kd = z1*z2; Kp = z1+z2-2*z1*z2; Ki = 1+z1*z2-z1-z2; Kp, Ki, Kd LPF_gain = numz(1) gamma = denz(3)