Current Loop Design - Motion Control.

Can someone please help checking the code for the problem in the PDF, would be thankful.

If there is anything missing to the question let me know, Thank you.

Ra=2;
La=5.2e-3;
Jeq=152e-3;
B=0;
KE=0.1;
KI=0.1;
Vd=60;
Vtri=5;
Fs=33*10^3;



Kpwm=Vd/Vtri;
ElectricalTime=La/Ra;
WcI=1000*2*pi;
KiI=WcI*Ra/Kpwm;
KpI=ElectricalTime*KiI;
KILim=5;

GOL_I=tf([KiI*Kpwm/Ra],[1 0]);
GCL_I=feedback(GOL_I,1);

WcS=50*2*pi;
KiS=1/KI*Jeq*WcS^2*0.5;
KpS=sqrt(3)*KiS/WcS;
KSLim=10;
GPI_S=tf([KpS KiS],[1 0]);
GOL_S=GPI_S*KI*tf([1],[Jeq 0]);
GCL_S=feedback(GOL_S,1);
figure(3)
bodeplot(GOL_S,{1 1000});title('GOL_S');grid on;
figure(4)
bodeplot(GCL_S,{1 1000});title('GCL_S');grid on;

[Rik]

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