>> s=tf('s')
Transfer function:
s
 
>> p=1
p =
     1

>> G1=(1/16)/(s/p+.95)
 
Transfer function:
 0.0625
--------
s + 0.95


>> G1
 
Transfer function:
 0.0625
--------
s + 0.95
 
>> G1_can=(0.0625/0.95)/(s/0.95+1)
 
Transfer function:
  0.06579
-----------
1.053 s + 1
 
>> K1=dcgain(G1_can)
K1 =
    0.0658

>> tau1=1/p/.95
tau1 =
    1.0526

>> G2=1/(s/1.95+1.05)

G2 =
 
    1.95
  ---------
  s + 2.047
 
Continuous-time transfer function.

>> K2=dcgain(G2)

K2 =

    0.9524

>> [wn,zeta,p] = damp(G2)

wn =

    2.0475


zeta =

     1


p =

   -2.0475

>> tau2=1/wn

tau2 =

    0.4884

>> Kratio=K1/K2

Kratio =

    0.0691

>> tauratio=tau1/tau2

tauratio =

    2.1553
 
>> Gpar=G1-G2

Gpar =
 
    -1.887 s - 1.725
  ---------------------
  s^2 + 2.997 s + 1.945
 
Continuous-time transfer function.

>> zpar=zero(Gpar)

zpar =

   -0.9137




>> p_min=K2/K1*tau1/tau2
p_min =
   31.2000

>> p=35
p =
    35
>> tau1=1/0.95/p
tau1 =
    0.0301
>> G1_can=K1/(tau1*s+1)
 
Transfer function:
   0.06579
-------------
0.03008 s + 1
 
>> GP=G1_can-G2_can
 
Transfer function:
   0.003487 s - 0.8866
--------------------------
0.01469 s^2 + 0.5185 s + 1
 
>> z=zero(GP)
z =
  254.2351
>> p=pole(GP)
p =
  -33.2500
   -2.0476
>> KP=dcgain(GP)
KP =
   -0.8866
>> 

GM=1/ARco=1.13
at the stability boundary: GM=1
				AR_lim=1
				AR_lim=ARco(Kc=1)*GM=1
				GM=Kc_lim/1 ((Kc=1))

zero_D=-1/tauD