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    %% First-Order Step Response With Known Time Constant
% Create a requirement that specifies a first-order step response with time
% constant of 5 seconds.  Create the requirement for the step response from
% a signal named |'r'| to a signal named |'y'|.  
%% 
Req = TuningGoal.StepResp('r','y',5);
%%
% When you use this requirement to tune a control system
% model, |T|, the time constant 5 is taken to be expressed in the
% prevailing units of the control system. For example, if |T| is a |genss|
% model and the property |T.TimeUnit| is |'seconds'|, then this requirement
% specifies a target time constant of 5 seconds for the response from the
% input |'r'| to the output |'y'| of |'T'|.
%
% The specified time constant is converted into a reference state-space model stored in
% the |ReferenceModel| property of the requirement.  
refsys = tf(Req.ReferenceModel)
%% 
% As expected, |refsys| is a first-order model.  
%
% Examine the requirement. The |viewSpec| command displays the target
% response, which is the step response of the reference model.
viewSpec(Req);
%%
% The dashed line shows the target step response specified by this
% requirement, a first-order response with a time constant of five seconds.