Step response due to input changes

I would like to use the Matlab control systems library to compare an experimentally derived transfer function model for a practical system. The experimental step response is shown below:

The system takes a duty cycle percentage as input and has RPM of a motor as output. In the plot above the two jumps in the response are to an input of 10 and 20 respectively. I have obtained the transfer function experimentally and managed to plot the response to an input of 10 in Matlab as shown below:

What I would like to do is to create a similar plot in matlab to my experimental plot so I can compare how close the model approximates the realization. How can I use step() to input 10 initially and then to step to 20 after about 6 seconds.

Answer 1

[Akbar]

Maybe try in Simulink, using the Signal builder block you can create Input as you want.