diary on
s=tf('s')
 
Transfer function:
s
 
P=40/(s^2+15*s+50)
 
Transfer function:
      40
---------------
s^2 + 15 s + 50
 
G=(1+0.05*s+1/s)
 
Transfer function:
0.05 s^2 + s + 1
----------------
       s
 
K=61.25

K =

   61.2500

H=K*G*P/(1+K*G*P)
 
Transfer function:
   122.5 s^5 + 4288 s^4 + 45325 s^3 + 159250 s^2 + 122500 s
--------------------------------------------------------------
s^6 + 152.5 s^5 + 4612 s^4 + 46825 s^3 + 161750 s^2 + 122500 s
 
step(100*H)
diary off