Since you have put "step(Mc)" the closed loop system Mc is showing step response plot and tracking the value '1'.
Your requirement is for your closed loop system to track a reference of 0.1. Use this:
t = 0:0.1:10; %Simulation runs for 10 seconds with 0.1 sec sampling time
u_ref = 0.1*ones(size(t)); %Reference signal
u_input=zeros(size(t)); % input signal to the closed loop system
% now feed the difference of input and reference signal to your closed loop system and see the time response.
% The closed loop system will track and settle at the reference signal.
lsim(Mc,u_ref-u_input,t)
Hope this is what you are asking. If not please elaborate on your problem statement.
