%------------your parameters-----
kp=10
t1=1
t2=1
a=1
w=1
%---your transfer fuction-----------
N=kp
D=[t1*t2 t1+t2 1]
H=tf(N,D)
%------your input signal u(t)---------
t=0:0.1:10
u=a*sin(w*t)
%-----compute the output signal y(t)
y=lsim(H,u,t)
plot(t,y)
