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t=[0:1:4799];
plot(t,phi0,'-',t,phi1,'-');
hold on;plot(t,ref0,'-',t,ref1,'-');
legend('Servo 0','Servo 1');
grid on;
title('Servos angle')
xlabel('Simulation time')
ylabel('Angle (degrees)')
axis([0,4799,-90, 90])
pause;
