figure(1),clf
hold on, grid on
figure(2),clf
hold on, grid on
figure(3),clf
hold on, grid on
legindex = 0;
tstepper = 0.1:.1:Tfin;
stepper = [zeros(1,TstepX*10) StepX*ones(1,(Tfin-TstepX)*10)];
if exist('ylq')
    figure(1)
    plot(tlq,ylq(:,1),'-','Linewidth',2,'Color',[0.6 0 0])
    figure(2)
    plot(tlq,ylq(:,2),'-','Linewidth',2,'Color',[0 0 0.8])
    figure(3)
    plot(tlq,ylq(:,3),'-','Linewidth',2,'Color',[0 0.3 0])
    legindex = legindex + 1;
    legcell{legindex}='Controllo LQ';
end
if exist('yfuzz')
    figure(1)
    plot(tfuzz,yfuzz(:,1),'--','Linewidth',2,'Color',[0.6 0 0])
    figure(2)
    plot(tfuzz,yfuzz(:,2),'--','Linewidth',2,'Color',[0 0 0.8])
    figure(3)
    plot(tfuzz,yfuzz(:,3),'--','Linewidth',2,'Color',[0 0.3 0])
    legindex = legindex + 1;
    legcell{legindex}='Controllo Fuzzy';
end
if exist('yneuro')
    figure(1)
    plot(tneuro,yneuro(:,1),'-.','Linewidth',2,'Color',[0.6 0 0])
    figure(2)
    plot(tneuro,yneuro(:,2),'-.','Linewidth',2,'Color',[0 0 0.8])
    figure(3)
    plot(tneuro,yneuro(:,3),'-.','Linewidth',2,'Color',[0 0.3 0])
    legindex = legindex + 1;
    legcell{legindex}='Controllo NN';
end
if exist('ysmc')
    figure(1)
    plot(tsmc,ysmc(:,1),':','Linewidth',2,'Color',[0.6 0 0])
    figure(2)
    plot(tsmc,ysmc(:,2),':','Linewidth',2,'Color',[0 0 0.8])
    figure(3)
    plot(tsmc,ysmc(:,3),':','Linewidth',2,'Color',[0 0.3 0])
    legindex = legindex + 1;
    legcell{legindex}='Controllo Sliding Mode';
end
if exist('ypid')
    figure(1)
    plot(tpid,ypid(:,1),'d','Linewidth',2,'Color',[0.6 0 0])
    figure(2)
    plot(tpid,ypid(:,2),'d','Linewidth',2,'Color',[0 0 0.8])
    figure(3)
    plot(tpid,ypid(:,3),'d','Linewidth',2,'Color',[0 0.3 0])
    legindex = legindex + 1;
    legcell{legindex}='Controllo PID';
end
if exist('yfuzzpid')
    figure(1)
    plot(tfuzzpid,yfuzzpid(:,1),'o','Linewidth',2,'Color',[0.6 0 0])
    figure(2)
    plot(tfuzzpid,yfuzzpid(:,2),'o','Linewidth',2,'Color',[0 0 0.8])
    figure(3)
    plot(tfuzzpid,yfuzzpid(:,3),'o','Linewidth',2,'Color',[0 0.3 0])
    legindex = legindex + 1;
    legcell{legindex}='Controllo Fuzzy PID-like';
end

if exist('legcell')
    figure(1)
    legend(legcell)%,'FontSize',15,'FontName','TimesNewRoman') %% FONTSIZE ecc. con Matlab 6.1 non funzionano..
    title('Controllo di pendolo inverso su carrello: \theta','FontSize',25,'FontName','TimesNewRoman')
    xlabel('time (s)','FontSize',25,'FontName','TimesNewRoman'),ylabel('rad','FontSize',25,'FontName','TimesNewRoman')
    figure(2)
    legend(legcell)%,'FontSize',15,'FontName','TimesNewRoman')
    plot(tstepper,stepper,'k--','Linewidth',2)
    title('Controllo di pendolo inverso su carrello: x','FontSize',25,'FontName','TimesNewRoman')
    xlabel('time (s)','FontSize',25,'FontName','TimesNewRoman'),ylabel('m','FontSize',25,'FontName','TimesNewRoman')
    figure(3)
    legend(legcell)%,'FontSize',15,'FontName','TimesNewRoman')
    title('Controllo di pendolo inverso su carrello: Forza (u)','FontSize',25,'FontName','TimesNewRoman')
    xlabel('time (s)','FontSize',25,'FontName','TimesNewRoman'),ylabel('N','FontSize',25,'FontName','TimesNewRoman')
else close all
end