from sympy.physics.control.lti import TransferFunctionMatrix
tf1 = TransferFunction(1, s + 2, s)
tf2 = TransferFunction(s + 1, s**2 + s + 1, s)
tf3 = TransferFunction(s + 1, s**2 + s + 1.5, s)
tfm = TransferFunctionMatrix(
    [[tf1, -tf1], [tf2, -tf2], [tf3, -tf3]])
plot_ramp_response(tfm)