G=tf(10,[1,10,35,50,24]); N=10;
[k,L,T]=getfod(G); iC=1:3;
for i=1:length(iC)
   [Gc,Kp,Ti,Td]=optpid(2,1,[k,L,T,N,iC(i)]); 
   G_c=feedback(G*Gc,1); step(G_c), hold on, 
end

iC=[1:3,1:3]; iD=[3,3,3,4,4,4];
for i=1:length(iC)
  [Gc,Kp,Ti,Td,H]=optPID(iD(i),1,[k,L,T,N,iC(i)]); 
  G_c=feedback(G*Gc,H); step(G_c), hold on, 
end