clc

T = .1;
ts = 5;
kp = input ('Proporcione el valor de kp (entre 0 y 20):');
t = 0:T:ts;
r = ones (1,length (t));
num = [0 .09516*kp];
den = [1 .09516*kp-.90484];
c = filter (num,den,r);
plot (t,r,'r',t,c,'+',t,c,'-')
grid
title ('Respuesta al escalon')
xlabel ('Tiempo (s)')
ylabel ('r(kT), c(kT)')