step20=[0 0.001 0.003 0.008 0.015 0.021 0.03 0.041 0.056 0.088 0.117 0.156 0.207 0.256 0.321 0.407 0.503 0.586 0.75 0.879 1.113 1.218 1.45 1.781 1.988 1.99 2.185 2.45 2.887 3.231 3.398 3.746 4.299 4.907 5.069 5.507 5.632 5.823 5.237 6.323 6.38 ];

step40=[0 0.002 0.01 0.023 0.041 0.066 0.089 0.135 0.18 0.247 0.319 0.404 0.524 0.644 0.776 0.962 1.148 1.376 1.601 1.89 2.202 2.536 2.932 3.348 3.859 4.125 4.568 5.067 5.509 6.042 6.767 7.412 8.059 8.891 9.454 9.952 10.711 11.064 11.916 12.379 12.529 ];

step60=[0 0.002 0.017 0.041 0.074 0.119 0.17 0.249 0.327 0.434 0.549 0.69 0.85 1.029 1.231 1.458 1.741 2.03 2.338 2.694 3.079 3.531 3.996 4.5 5.035 5.616 6.1 6.674 7.303 7.864 8.518 9.204 10.003 10.904 11.799 12.619 13.638 14.217 15.324 15.798 16.715 ];

step70=[0 0.002 0.019 0.049 0.092 0.149 0.211 0.296 0.398 0.517 0.648 0.811 0.989 1.194 1.426 1.681 1.953 2.285 2.622 2.998 3.407 3.849 4.329 4.822 5.388 5.958 6.59 7.115 7.693 8.32 8.868 9.647 10.467 11.332 12.166 12.996 13.778 14.77 15.723 16.595 17.556 ];

step80=[0 0.002 0.02 0.054 0.104 0.166 0.243 0.339 0.455 0.583 0.734 0.911 1.099 1.315 1.56 1.821 2.121 2.431 2.786 3.164 3.57 3.992 4.477 4.946 5.492 6.066 6.65 7.292 7.813 8.424 9.042 9.631 10.354 11.085 11.936 12.813 13.604 14.517 15.493 16.339 17.342 ];

a=[0 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70 72 74 76 78 80 ];

plot(a,step80,'-',a,step70,'-',a,step60,'-',a,step40,'-',a,step20,'-');
legend('PD=80','PD=70','PD=60','PD=40','PD=20');
title('Step vs Amplitude for diferent phase differences');
xlabel('Amplitude (degrees)');
ylabel('Step (mm)');
axis([0 80]);
grid on;
