% Pole zero cancellation example
s=tf('s')
K=10;
T=10;
Ti=T;

P=1/(1+s*T);
C=K*(1+1/(s*Ti));

Go=minreal(P*C) % minimal realization: pole zero cancellation carried out
Gyr=minreal(Go/(1+Go))
Glr=minreal(P/(1+Go))

figure(1)
step(Gyr)
title('reference step response')

figure(2)
step(Glr)
title('load disturbance step response')