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authorpriyanka2015-06-24 15:03:17 +0530
committerpriyanka2015-06-24 15:03:17 +0530
commitb1f5c3f8d6671b4331cef1dcebdf63b7a43a3a2b (patch)
treeab291cffc65280e58ac82470ba63fbcca7805165 /2048/CH9
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Scilab-TBC-Uploads-b1f5c3f8d6671b4331cef1dcebdf63b7a43a3a2b.tar.bz2
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initial commit / add all books
Diffstat (limited to '2048/CH9')
-rwxr-xr-x2048/CH9/EX9.1/ball_basic.sce67
-rwxr-xr-x2048/CH9/EX9.1/basic.xcos1
-rwxr-xr-x2048/CH9/EX9.1/c_ss_cl.xcos1
-rwxr-xr-x2048/CH9/EX9.1/u1_c_ss_cl.pngbin0 -> 3223 bytes
-rwxr-xr-x2048/CH9/EX9.1/y1_c_ss_cl.pngbin0 -> 4300 bytes
-rwxr-xr-x2048/CH9/EX9.10/ibm_pp.sce52
-rwxr-xr-x2048/CH9/EX9.10/stb_disc.xcos1
-rwxr-xr-x2048/CH9/EX9.10/u1_stb_disc.pngbin0 -> 2852 bytes
-rwxr-xr-x2048/CH9/EX9.10/y1_stb_disc.pngbin0 -> 3360 bytes
-rwxr-xr-x2048/CH9/EX9.11/c_ss_cl.xcos1
-rwxr-xr-x2048/CH9/EX9.11/motor.sce52
-rwxr-xr-x2048/CH9/EX9.11/u1_c_ss_cl.pngbin0 -> 3589 bytes
-rwxr-xr-x2048/CH9/EX9.11/y1_c_ss_cl.pngbin0 -> 3413 bytes
-rwxr-xr-x2048/CH9/EX9.12/polsplit3.sci33
-rwxr-xr-x2048/CH9/EX9.13/pp_im2.sci31
-rwxr-xr-x2048/CH9/EX9.14/g_s_cl2.xcos1
-rwxr-xr-x2048/CH9/EX9.14/sigurd.sce66
-rwxr-xr-x2048/CH9/EX9.14/u1_g_s_cl2.pngbin0 -> 3266 bytes
-rwxr-xr-x2048/CH9/EX9.14/y1_g_s_cl2.pngbin0 -> 3193 bytes
-rwxr-xr-x2048/CH9/EX9.15/g_s_cl3.xcos1
-rwxr-xr-x2048/CH9/EX9.15/g_s_cl6.xcos1
-rwxr-xr-x2048/CH9/EX9.15/sigurd_his.sce64
-rwxr-xr-x2048/CH9/EX9.16/stb_disc.xcos1
-rwxr-xr-x2048/CH9/EX9.16/type_2DOF.sce42
-rwxr-xr-x2048/CH9/EX9.17/dof_choice.sce58
-rwxr-xr-x2048/CH9/EX9.17/stb_disc.xcos1
-rwxr-xr-x2048/CH9/EX9.18/ibm_pp_sat.sce84
-rwxr-xr-x2048/CH9/EX9.18/stb_disc_sat.xcos1
-rwxr-xr-x2048/CH9/EX9.19/g_s_cl.xcos1
-rwxr-xr-x2048/CH9/EX9.19/pid_neg.sce52
-rwxr-xr-x2048/CH9/EX9.19/u1_9_19.pngbin0 -> 3724 bytes
-rwxr-xr-x2048/CH9/EX9.19/y1_9_19.pngbin0 -> 3492 bytes
-rwxr-xr-x2048/CH9/EX9.2/myc2d.sci20
-rwxr-xr-x2048/CH9/EX9.20/pp_pid.sci15
-rwxr-xr-x2048/CH9/EX9.21/g_s_cl2.xcos1
-rwxr-xr-x2048/CH9/EX9.21/g_s_cl3.xcos1
-rwxr-xr-x2048/CH9/EX9.21/motor_pd.sce69
-rwxr-xr-x2048/CH9/EX9.21/u1_g_s_cl2.pngbin0 -> 4729 bytes
-rwxr-xr-x2048/CH9/EX9.21/y1_g_s_cl2.pngbin0 -> 3496 bytes
-rwxr-xr-x2048/CH9/EX9.22/pd.sci14
-rwxr-xr-x2048/CH9/EX9.3/polsplit2.sci36
-rwxr-xr-x2048/CH9/EX9.4/desired.sci11
-rwxr-xr-x2048/CH9/EX9.5/pp_basic.sci26
-rwxr-xr-x2048/CH9/EX9.6/zpowk.sci7
-rwxr-xr-x2048/CH9/EX9.7/basic_disc.xcos1
-rwxr-xr-x2048/CH9/EX9.7/stb_disc.xcos1
-rwxr-xr-x2048/CH9/EX9.7/u1_stb_disc.pngbin0 -> 3174 bytes
-rwxr-xr-x2048/CH9/EX9.7/unstb.sce56
-rwxr-xr-x2048/CH9/EX9.7/y1_stb_disc.pngbin0 -> 3610 bytes
-rwxr-xr-x2048/CH9/EX9.8/pp_im.sci25
-rwxr-xr-x2048/CH9/EX9.9/ball_im.sce60
-rwxr-xr-x2048/CH9/EX9.9/c_ss_cl.xcos1
-rwxr-xr-x2048/CH9/EX9.9/u1_c_ss_cl.pngbin0 -> 3234 bytes
-rwxr-xr-x2048/CH9/EX9.9/y1_c_ss_cl.pngbin0 -> 4269 bytes
54 files changed, 956 insertions, 0 deletions
diff --git a/2048/CH9/EX9.1/ball_basic.sce b/2048/CH9/EX9.1/ball_basic.sce
new file mode 100755
index 000000000..a77321e8b
--- /dev/null
+++ b/2048/CH9/EX9.1/ball_basic.sce
@@ -0,0 +1,67 @@
+// Pole placement controller for magnetically suspended ball problem, discussed in Example 9.3 on page 331.
+// 9.1
+
+exec('myc2d.sci',-1);
+exec('desired.sci',-1);
+exec('zpowk.sci',-1);
+exec('polsplit2.sci',-1);
+exec('polsize.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+exec('polmul.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('xdync.sci',-1);
+exec('left_prm.sci',-1);
+exec('rowjoin.sci',-1);
+exec('pp_basic.sci',-1);
+exec('polyno.sci',-1);
+exec('cosfil_ip.sci',-1);
+
+// Magnetically suspended ball problem
+// Operating conditions
+M = 0.05; L = 0.01; R = 1; K = 0.0001; g = 9.81;
+
+//Equilibrium conditions
+hs = 0.01; is = sqrt(M*g*hs/K);
+
+// State space matrices
+a21 = K*is^2/M/hs^2; a23 = - 2*K*is/M/hs; a33 = - R/L;
+b3 = 1/L;
+a1 = [0 1 0; a21 0 a23; 0 0 a33];
+b1 = [0; 0; b3]; c1 = [1 0 0]; d1 = 0;
+
+// Transfer functions
+G = syslin('c',a1,b1,c1,d1); Ts = 0.01;
+[B,A,k] = myc2d(G,Ts);
+
+//polynomials are returned
+[Ds,num,den] = ss2tf(G);
+num = clean(num); den = clean(den);
+
+// Transient specifications
+rise = 0.15; epsilon = 0.05;
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+[Rc,Sc,Tc,gamm] = pp_basic(B,A,k,phi);
+
+// Setting up simulation parameters for basic.xcos
+st = 0.0001; // desired change in h, in m.
+t_init = 0; // simulation start time
+t_final = 0.5; // simulation end time
+
+// Setting up simulation parameters for c_ss_cl.xcos
+N_var = 0; xInitial = [0 0 0]; N = 1; C = 0; D = 1;
+
+[Tc1,Rc1] = cosfil_ip(Tc,Rc); // Tc/Rc
+[Sc2,Rc2] = cosfil_ip(Sc,Rc); // Sc/Rc
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Np,Rcp] = cosfil_ip(N,Rc); // 1/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
diff --git a/2048/CH9/EX9.1/basic.xcos b/2048/CH9/EX9.1/basic.xcos
new file mode 100755
index 000000000..10d53503c
--- /dev/null
+++ b/2048/CH9/EX9.1/basic.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.1/c_ss_cl.xcos b/2048/CH9/EX9.1/c_ss_cl.xcos
new file mode 100755
index 000000000..742a93cb1
--- /dev/null
+++ b/2048/CH9/EX9.1/c_ss_cl.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.1/u1_c_ss_cl.png b/2048/CH9/EX9.1/u1_c_ss_cl.png
new file mode 100755
index 000000000..94481d0b2
--- /dev/null
+++ b/2048/CH9/EX9.1/u1_c_ss_cl.png
Binary files differ
diff --git a/2048/CH9/EX9.1/y1_c_ss_cl.png b/2048/CH9/EX9.1/y1_c_ss_cl.png
new file mode 100755
index 000000000..117ffd2ab
--- /dev/null
+++ b/2048/CH9/EX9.1/y1_c_ss_cl.png
Binary files differ
diff --git a/2048/CH9/EX9.10/ibm_pp.sce b/2048/CH9/EX9.10/ibm_pp.sce
new file mode 100755
index 000000000..d4798e0c0
--- /dev/null
+++ b/2048/CH9/EX9.10/ibm_pp.sce
@@ -0,0 +1,52 @@
+// Pole placement controller IBM Lotus Domino server, discussed in Example 9.9 on page 341.
+// 9.10
+
+exec('desired.sci',-1);
+exec('pp_im.sci',-1);
+exec('zpowk.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('polsplit3.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('polmul.sci',-1);
+exec('indep.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+exec('polyno.sci',-1);
+
+// Control of IBM lotus domino server
+// Transfer function
+B = 0.47; A = [1 -0.43]; k = 1;
+[zk,dzk] = zpowk(k);
+
+// Transient specifications
+rise = 10; epsilon = 0.01; Ts = 1;
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+Delta = [1 -1]; // internal model of step used
+[Rc,Sc,Tc,gamm] = pp_im(B,A,k,phi,Delta);
+
+// Simulation parameters for stb_disc.xcos
+st = 1; // desired change
+t_init = 0; // simulation start time
+t_final = 40; // simulation end time
+C = 0; D = 1; N_var = 0;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Rcp1,Rcp2] = cosfil_ip(1,Rc); // 1/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Bp,Ap] = cosfil_ip(B,A); // B/A
+[zkp1,zkp2] = cosfil_ip(zk,1); // zk/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
+
+
diff --git a/2048/CH9/EX9.10/stb_disc.xcos b/2048/CH9/EX9.10/stb_disc.xcos
new file mode 100755
index 000000000..7478758b7
--- /dev/null
+++ b/2048/CH9/EX9.10/stb_disc.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.10/u1_stb_disc.png b/2048/CH9/EX9.10/u1_stb_disc.png
new file mode 100755
index 000000000..53778f869
--- /dev/null
+++ b/2048/CH9/EX9.10/u1_stb_disc.png
Binary files differ
diff --git a/2048/CH9/EX9.10/y1_stb_disc.png b/2048/CH9/EX9.10/y1_stb_disc.png
new file mode 100755
index 000000000..dc33ce1d1
--- /dev/null
+++ b/2048/CH9/EX9.10/y1_stb_disc.png
Binary files differ
diff --git a/2048/CH9/EX9.11/c_ss_cl.xcos b/2048/CH9/EX9.11/c_ss_cl.xcos
new file mode 100755
index 000000000..93b0ef657
--- /dev/null
+++ b/2048/CH9/EX9.11/c_ss_cl.xcos
@@ -0,0 +1 @@
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visible="0"><mxGeometry as="geometry" height="8.0" width="8.0" x="-4.0" y="7.0"/></CommandPort><ControlPort as="target" dataType="UNKNOW_TYPE" id="3844e477:143914d2fde:-7e67" ordering="1" parent="3844e477:143914d2fde:-7f21" style="ControlPort;align=center;verticalAlign=top;spacing=10.0;rotation=90;flip=false;mirror=false"><mxGeometry as="geometry" height="8.0" width="8.0" x="16.0" y="-8.0"/></ControlPort></CommandControlLink><SplitBlock id="6e4925f9:1460474cdcb:-76dc" interfaceFunctionName="CLKSPLIT_f" ordering="25" parent="3844e477:143914d2fde:-7fa0" simulationFunctionType="DEFAULT" style="CLKSPLIT_f;flip=false;mirror=false"><mxGeometry as="geometry" height="7.0" width="7.0" x="407.0" y="277.0"/></SplitBlock><ControlPort dataType="UNKNOW_TYPE" id="6e4925f9:1460474cdcb:-76db" ordering="1" parent="6e4925f9:1460474cdcb:-76dc" style="ControlPort;align=center;verticalAlign=top;spacing=10.0;rotation=90;flip=false;mirror=false" visible="0"><mxGeometry as="geometry" height="8.0" width="8.0" 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parent="3844e477:143914d2fde:-7f9f"/></XcosDiagram> \ No newline at end of file
diff --git a/2048/CH9/EX9.11/motor.sce b/2048/CH9/EX9.11/motor.sce
new file mode 100755
index 000000000..ba3adb8cd
--- /dev/null
+++ b/2048/CH9/EX9.11/motor.sce
@@ -0,0 +1,52 @@
+// Pole placement controller for motor problem, discussed in Example 9.10 on page 343.
+// 9.11
+
+exec('desired.sci',-1);
+exec('pp_im.sci',-1);
+exec('myc2d.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('polsplit3.sci',-1);
+exec('zpowk.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+exec('polyno.sci',-1);
+
+// Motor control problem
+// Transfer function
+a1 = [-1 0; 1 0]; b1 = [1; 0]; c1 = [0 1]; d1 = 0;
+G = syslin('c',a1,b1,c1,d1); Ts = 0.25;
+[B,A,k] = myc2d(G,Ts);
+
+// Transient specifications
+rise = 3; epsilon = 0.05;
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+Delta = 1; // No internal model of step used
+[Rc,Sc,Tc,gamm] = pp_im(B,A,k,phi,Delta);
+
+// simulation parameters for c_ss_cl.xcos
+st = 1; //desired change in position
+t_init = 0; //simulation start time
+t_final = 10; //simulation end time
+xInitial = [0 0]; //initial conditions
+N = 1; C = 0; D = 1; N_var = 0;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Np,Rcp] = cosfil_ip(N,Rc); // 1/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
+
+
diff --git a/2048/CH9/EX9.11/u1_c_ss_cl.png b/2048/CH9/EX9.11/u1_c_ss_cl.png
new file mode 100755
index 000000000..f67d5358d
--- /dev/null
+++ b/2048/CH9/EX9.11/u1_c_ss_cl.png
Binary files differ
diff --git a/2048/CH9/EX9.11/y1_c_ss_cl.png b/2048/CH9/EX9.11/y1_c_ss_cl.png
new file mode 100755
index 000000000..2796e8183
--- /dev/null
+++ b/2048/CH9/EX9.11/y1_c_ss_cl.png
Binary files differ
diff --git a/2048/CH9/EX9.12/polsplit3.sci b/2048/CH9/EX9.12/polsplit3.sci
new file mode 100755
index 000000000..caffc7509
--- /dev/null
+++ b/2048/CH9/EX9.12/polsplit3.sci
@@ -0,0 +1,33 @@
+// Procedure to split a polynomial into good and bad factors, as discussed in Sec. 9.5. The factors that have roots outside unit circle or with negative real parts are defined as bad.
+// 9.12
+
+// function [goodpoly,badpoly] = polsplit3(fac,a)
+// Splits a scalar polynomial of z^{-1} into good and bad
+// factors. Input is a polynomial in increasing degree of
+// z^{-1}. Optional input is a, where a <= 1.
+// Factors that have roots outside a circle of radius a or
+// with negative roots will be called bad and the rest
+// good. If a is not specified, it will be assumed as 1.
+
+function [goodpoly,badpoly] = polsplit3(fac,a)
+if argn(2) == 1, a = 1; end
+if a>1 error('good polynomial also is unstable'); end
+fac1 = poly(fac(length(fac):-1:1),'z','coeff');
+rts = roots(fac1);
+rts = rts(length(rts):-1:1);
+
+// extract good and bad roots
+badindex = mtlb_find((abs(rts)>=a-1.0e-5)|(real(rts)<-0.05));
+badpoly = coeff(poly(rts(badindex),'z'));
+goodindex = mtlb_find((abs(rts)<a-1.0e-5)&(real(rts)>=-0.05));
+goodpoly = coeff(poly(rts(goodindex),'z'));
+
+// scale by equating the largest terms
+[m,index] = max(abs(fac));
+goodbad = convol(goodpoly,badpoly);
+goodbad = goodbad(length(goodbad):-1:1);
+factor1 = fac(index)/goodbad(index);
+goodpoly = goodpoly * factor1;
+goodpoly = goodpoly(length(goodpoly):-1:1);
+badpoly = badpoly(length(badpoly):-1:1);
+endfunction;
diff --git a/2048/CH9/EX9.13/pp_im2.sci b/2048/CH9/EX9.13/pp_im2.sci
new file mode 100755
index 000000000..61ba58d1b
--- /dev/null
+++ b/2048/CH9/EX9.13/pp_im2.sci
@@ -0,0 +1,31 @@
+// Pole placement controller without intra sample oscillations, as discussed in Sec. 9.5.
+// 9.13
+
+// function [Rc,Sc,Tc,gamma,phit] = pp_im2(B,A,k,phi,Delta,a)
+// 2-DOF PP controller with internal model of Delta and without
+// hidden oscillations
+
+function [Rc,Sc,Tc,gamm,phit] = pp_im2(B,A,k,phi,Delta,a)
+
+if argn(2) == 5, a = 1; end
+dphi = length(phi)-1;
+
+// Setting up and solving Aryabhatta identity
+[Ag,Ab] = polsplit3(A,a); dAb = length(Ab) - 1;
+[Bg,Bb] = polsplit3(B,a); dBb = length(Bb) - 1;
+
+[zk,dzk] = zpowk(k);
+
+[N,dN] = polmul(Bb,dBb,zk,dzk);
+dDelta = length(Delta)-1;
+[D,dD] = polmul(Ab,dAb,Delta,dDelta);
+
+[S1,dS1,R1,dR1] = xdync(N,dN,D,dD,phi,dphi);
+
+// Determination of control law
+Rc = convol(Bg,convol(R1,Delta)); Sc = convol(Ag,S1);
+Tc = Ag; gamm = sum(phi)/sum(Bb);
+
+// Total characteristic polynomial
+phit = convol(phi,convol(Ag,Bg));
+endfunction;
diff --git a/2048/CH9/EX9.14/g_s_cl2.xcos b/2048/CH9/EX9.14/g_s_cl2.xcos
new file mode 100755
index 000000000..7109e537c
--- /dev/null
+++ b/2048/CH9/EX9.14/g_s_cl2.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.14/sigurd.sce b/2048/CH9/EX9.14/sigurd.sce
new file mode 100755
index 000000000..f02beb607
--- /dev/null
+++ b/2048/CH9/EX9.14/sigurd.sce
@@ -0,0 +1,66 @@
+// Controller design for the case study presented in Example 9.12 on page 347.
+// 9.14
+
+exec('tf.sci',-1);
+exec('desired.sci',-1);
+exec('zpowk.sci',-1);
+exec('myc2d.sci',-1);
+exec('polsplit3.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('pp_im2.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+exec('cosfil_ip.sci',-1);
+
+num = 200;
+den = convol([0.05 1],[0.05 1]);
+den = convol([10 1],den);
+G = tf(num,den); Ts = 0.025;
+num = G('num'); den = G('den');
+// iodel = 0;
+[B,A,k] = myc2d(G,Ts);
+[zk,dzk] = zpowk(k); //int1 = 0;
+
+// Transient specifications
+a = 0.9; rise = 0.24; epsilon = 0.05;
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+Delta = [1 -1]; // internal model of step is present
+[Rc,Sc,Tc,gamm] = pp_im2(B,A,k,phi,Delta,a);
+
+// margin calculation
+Lnum = convol(Sc,convol(B,zk));
+Lden = convol(Rc,A);
+L = tf(Lnum,Lden,Ts);
+Gm = g_margin(L); //---- Does not match --------------- (in dB)
+Pm = p_margin(L); //---- Convergence problem --------------- (in degree)
+
+num1 = 100; den1 = [10 1];
+Gd = tf(num1,den1); //-------
+[C,D,k1] = myc2d(Gd,Ts);
+[zk,dzk] = zpowk(k);
+C = convol(C,zk);
+
+// simulation parameters g_s_cl2.xcos ------------
+N = 1;
+st = 1; // desired change in setpoint
+st1 = 0; // magnitude of disturbance
+t_init = 0; // simulation start time
+t_final = 1.5; // simulation end time
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Np,Rcp] = cosfil_ip(N,Rc); // N/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
diff --git a/2048/CH9/EX9.14/u1_g_s_cl2.png b/2048/CH9/EX9.14/u1_g_s_cl2.png
new file mode 100755
index 000000000..f88b50eba
--- /dev/null
+++ b/2048/CH9/EX9.14/u1_g_s_cl2.png
Binary files differ
diff --git a/2048/CH9/EX9.14/y1_g_s_cl2.png b/2048/CH9/EX9.14/y1_g_s_cl2.png
new file mode 100755
index 000000000..98461c5e6
--- /dev/null
+++ b/2048/CH9/EX9.14/y1_g_s_cl2.png
Binary files differ
diff --git a/2048/CH9/EX9.15/g_s_cl3.xcos b/2048/CH9/EX9.15/g_s_cl3.xcos
new file mode 100755
index 000000000..9d6266ea3
--- /dev/null
+++ b/2048/CH9/EX9.15/g_s_cl3.xcos
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diff --git a/2048/CH9/EX9.15/g_s_cl6.xcos b/2048/CH9/EX9.15/g_s_cl6.xcos
new file mode 100755
index 000000000..274b17657
--- /dev/null
+++ b/2048/CH9/EX9.15/g_s_cl6.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.15/sigurd_his.sce b/2048/CH9/EX9.15/sigurd_his.sce
new file mode 100755
index 000000000..d53f3c500
--- /dev/null
+++ b/2048/CH9/EX9.15/sigurd_his.sce
@@ -0,0 +1,64 @@
+// Evaluation of continuous time controller for the case study presented in Example 9.13 on page 349.
+// 9.15
+
+clear
+exec('tf.sci',-1);
+exec('myc2d.sci',-1);
+exec('zpowk.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('polyno.sci',-1);
+
+num = 200;
+den = convol([0.05 1],[0.05 1]);
+den = convol([10 1],den);
+G = tf(num,den); Ts = 0.005;
+[B,A,k] = myc2d(G,Ts);
+[zk,dzk] = zpowk(k); //int = 0;
+
+// Sigurd's feedback controller'
+numb = 0.5*convol([1 2],[0.05 1]);
+denb = convol([1 0],[0.005 1]);
+Gb = tf(numb,denb);
+[Sb,Rb,kb] = myc2d(Gb,Ts);
+[zkb,dzkb] = zpowk(kb);
+Sb = convol(Sb,zkb);
+
+// Sigurd's feed forward controller'
+numf = [0.5 1];
+denf = convol([0.65 1],[0.03 1]);
+Gf = tf(numf,denf);
+[Sf,Rf,kf] = myc2d(Gf,Ts);
+[zkf,dzkf] = zpowk(kf);
+Sf = convol(Sf,zkf);
+
+// Margins
+simp_mode(%f);
+L = G*Gb;
+Gm = g_margin(L); // ------
+Pm = p_margin(L); // ------
+Lnum = convol(Sb,convol(zk,B));
+Lden = convol(Rb,A);
+L = tf(Lnum,Lden,Ts);
+DGm = g_margin(L); // ------
+DPm = p_margin(L); // ------
+
+// Noise
+num1 = 100; den1 = [10 1];
+
+// simulation parameters for
+// entirely continuous simulation: g_s_cl3.xcos
+// hybrid simulation: g_s_cl6.xcos
+st = 1; // desired change in setpoint
+st1 = 0;
+t_init = 0; // simulation start time
+t_final = 5; // simulation end time
+
+num = polyno(num,'s'); den = polyno(den,'s');
+Numb = polyno(numb,'s'); Denb = polyno(denb,'s');
+Numf = polyno(numf,'s'); Denf = polyno(denf,'s');
+Num1 = polyno(num1,'s'); Den1 = polyno(den1,'s');
+
+[Sbp,Rbp] = cosfil_ip(Sb,Rb);
+[Sfp,Rfp] = cosfil_ip(Sf,Rf);
+
+
diff --git a/2048/CH9/EX9.16/stb_disc.xcos b/2048/CH9/EX9.16/stb_disc.xcos
new file mode 100755
index 000000000..142002b60
--- /dev/null
+++ b/2048/CH9/EX9.16/stb_disc.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.16/type_2DOF.sce b/2048/CH9/EX9.16/type_2DOF.sce
new file mode 100755
index 000000000..3ba0f297d
--- /dev/null
+++ b/2048/CH9/EX9.16/type_2DOF.sce
@@ -0,0 +1,42 @@
+// System type with 2-DOF controller. It is used to arrive at the results Example 9.14.
+// 9.16
+
+exec('polsplit3.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('pp_im.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+exec('seshft.sci',-1);
+exec('zpowk.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('polyno.sci',-1);
+
+B = 1; A = [1 -1]; k = 1; zk = zpowk(k); Ts = 1;
+phi = [1 -0.5];
+
+Delta = 1; // Choice of internal model of step
+[Rc,Sc,Tc,gamm] = pp_im(B,A,k,phi,Delta);
+
+// simulation parameters for stb_disc.xcos
+st = 1; // desired step change
+t_init = 0; // simulation start time
+t_final = 20; // simulation end time
+xInitial = [0 0];
+C = 0; D = 1; N_var = 0;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Rcp1,Rcp2] = cosfil_ip(1,Rc); // 1/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Bp,Ap] = cosfil_ip(B,A); // B/A
+[zkp1,zkp2] = cosfil_ip(zk,1); // zk/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
diff --git a/2048/CH9/EX9.17/dof_choice.sce b/2048/CH9/EX9.17/dof_choice.sce
new file mode 100755
index 000000000..a44b0a70d
--- /dev/null
+++ b/2048/CH9/EX9.17/dof_choice.sce
@@ -0,0 +1,58 @@
+// Illustrating the benefit of cancellation. It is used to arrive at the results of Example 9.15.
+// 9.17
+
+exec('pp_im.sci',-1);
+exec('pp_pid.sci',-1);
+exec('zpowk.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+exec('polyno.sci',-1);
+exec('cosfil_ip.sci',-1);
+
+
+// test problem to demonstrate benefits of 2_dof
+// Ts = 1; B = [1 0.9]; A = conv([1 -1],[1 -0.8]); k = 1;
+Ts = 1; k = 1;
+B = convol([1 0.9],[1 -0.8]); A = convol([1 -1],[1 -0.5]);
+
+// closed loop characteristic polynomial
+phi = [1 -1 0.5];
+
+Delta = 1; // Choice of internal model of step
+control = 1;
+if control == 1, // 1-DOF with no cancellation
+ [Rc,Sc] = pp_pid(B,A,k,phi,Delta);
+ Tc = Sc; gamm = 1;
+else // 2-DOF
+ [Rc,Sc,Tc,gamm] = pp_im(B,A,k,phi,Delta);
+end
+
+// simulation parameters for stb_disc.mdl
+[zk,dzk] = zpowk(k);
+st = 1; // desired step change
+t_init = 0; // simulation start time
+t_final = 20; // simulation end time
+xInitial = [0 0];
+C = 0; D = 1; N_var = 0;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Rcp1,Rcp2] = cosfil_ip(1,Rc); // 1/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Bp,Ap] = cosfil_ip(B,A); // B/A
+[zkp1,zkp2] = cosfil_ip(zk,1); // zk/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
+
+
+
diff --git a/2048/CH9/EX9.17/stb_disc.xcos b/2048/CH9/EX9.17/stb_disc.xcos
new file mode 100755
index 000000000..142002b60
--- /dev/null
+++ b/2048/CH9/EX9.17/stb_disc.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.18/ibm_pp_sat.sce b/2048/CH9/EX9.18/ibm_pp_sat.sce
new file mode 100755
index 000000000..21ab344c3
--- /dev/null
+++ b/2048/CH9/EX9.18/ibm_pp_sat.sce
@@ -0,0 +1,84 @@
+// Anti windup control (AWC) of IBM Lotus Domino server, studied in Example 9.16 on page 357. It can be used for the follwoing situations: with and without saturation, and with and without AWC.
+// 9.18
+
+exec('pp_im2.sci',-1);
+exec('desired.sci',-1);
+exec('zpowk.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('polsplit3.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('polyno.sci',-1);
+exec('cindep.sci',-1);
+exec('poladd.sci',-1);
+
+// Transfer function
+B = 0.47; A = [1 -0.43]; k = 1;
+[zk,dzk] = zpowk(k);
+
+// Transient specifications
+rise = 10; epsilon = 0.01; Ts = 1;
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+delta = [1 -1]; // internal model of step used
+[Rc,Sc,Tc,gamm,F] = pp_im2(B,A,k,phi,delta);
+
+// Study of Antiwindup Controller
+
+key = x_choose(['Simulate without any saturation limits';
+ 'Simulate saturation, but do not use AWC';
+ 'Simulate saturation with AWC in place';
+ 'Simulate with AWC, without saturation limits'],...
+ ['Please choose one of the following']);
+
+if key ==0
+ disp('Invalid choice');
+ return;
+elseif key == 1
+ U = 2; L = -2; P = 1; F = Rc; E = 0; PSc = Sc; PTc = Tc;
+elseif key == 2
+ U = 1; L = -1; P = 1; F = Rc; E = 0; PSc = Sc; PTc = Tc;
+else
+ if key == 3 // Antiwindup controller and with saturation
+ U = 1; L = -1;
+ elseif key == 4 // Antiwindup controller, but no saturation
+ U = 2; L = -2;
+ end
+ P = A;
+ dF = length(F) - 1;
+ PRc = convol(P,Rc); dPRc = length(PRc) - 1;
+ [E,dE] = poladd(F,dF,-PRc,dPRc);
+ PSc = convol(P,Sc); PTc = convol(P,Tc);
+end
+
+// Setting up simulation parameters for stb_disc_sat
+t_init = 0; // first step begins
+st = 1; // height of first step
+t_init2 = 500; // second step begins
+st2 = -2; // height of second step
+t_final = 1000; // simulation end time
+st1 = 0; // no disturbance input
+C = 0; D = 1; N_var = 0;
+
+[PTcp1,PTcp2] = cosfil_ip(PTc,1); // PTc/1
+[Fp1,Fp2] = cosfil_ip(1,F); // 1/F
+[Ep,Fp] = cosfil_ip(E,F); // E/F
+[PScp1,PScp2] = cosfil_ip(PSc,1); // PSc/1
+[Bp,Ap] = cosfil_ip(B,A); // B/A
+[zkp1,zkp2] = cosfil_ip(zk,1); // zk/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
+
+
+
diff --git a/2048/CH9/EX9.18/stb_disc_sat.xcos b/2048/CH9/EX9.18/stb_disc_sat.xcos
new file mode 100755
index 000000000..d833e7aa9
--- /dev/null
+++ b/2048/CH9/EX9.18/stb_disc_sat.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.19/g_s_cl.xcos b/2048/CH9/EX9.19/g_s_cl.xcos
new file mode 100755
index 000000000..aab26412d
--- /dev/null
+++ b/2048/CH9/EX9.19/g_s_cl.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.19/pid_neg.sce b/2048/CH9/EX9.19/pid_neg.sce
new file mode 100755
index 000000000..ef7886892
--- /dev/null
+++ b/2048/CH9/EX9.19/pid_neg.sce
@@ -0,0 +1,52 @@
+// Demonstration of usefulness of negative PID parameters, discussed in Example 9.17 on page 361.
+// 9.19
+
+exec('iodelay.sci',-1);
+exec('delc2d.sci',-1);
+exec('desired.sci',-1);
+exec('pp_pid.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('tf.sci',-1);
+exec('flip.sci',-1);
+exec('zpowk.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+
+// Discretize the continuous plant
+num = 1; den = [2 1]; tau = 0.5;
+G1 = tf(num,den);
+G = iodelay(G1,tau);
+Ts = 0.5;
+[B,A,k] = delc2d(G,G1,Ts);
+
+// Specify transient requirements
+epsilon = 0.05; rise = 5;
+phi = desired(Ts,rise,epsilon);
+
+// Design the controller
+Delta = [1 -1];
+[Rc,Sc] = pp_pid(B,A,k,phi,Delta);
+
+// parameters for simulation using g_s_cl
+Tc = Sc; gamm = 1; N = 1;
+C = 0; D = 1; N_var = 0;
+st = 1; t_init = 0; t_final = 20;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Np,Rcp] = cosfil_ip(N,Rc); // N/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+Num = numer(G1);
+Den = denom(G1);
+
diff --git a/2048/CH9/EX9.19/u1_9_19.png b/2048/CH9/EX9.19/u1_9_19.png
new file mode 100755
index 000000000..9785bf16f
--- /dev/null
+++ b/2048/CH9/EX9.19/u1_9_19.png
Binary files differ
diff --git a/2048/CH9/EX9.19/y1_9_19.png b/2048/CH9/EX9.19/y1_9_19.png
new file mode 100755
index 000000000..aa2fa15bb
--- /dev/null
+++ b/2048/CH9/EX9.19/y1_9_19.png
Binary files differ
diff --git a/2048/CH9/EX9.2/myc2d.sci b/2048/CH9/EX9.2/myc2d.sci
new file mode 100755
index 000000000..1644cddfe
--- /dev/null
+++ b/2048/CH9/EX9.2/myc2d.sci
@@ -0,0 +1,20 @@
+// Discretization of continuous transfer function. The result is numerator and denominator in powers of z^{-1} and the delay term k.
+// 9.2
+// function [B,A,k] = myc2d(G,Ts)
+// Produces numerator and denominator of discrete transfer
+// function in powers of z^{-1}
+// G is continuous transfer function; time delays are not allowed
+// Ts is the sampling time, all in consistent time units
+
+function [B,A,k] = myc2d(G,Ts)
+H = ss2tf(dscr(G,Ts));
+num1 = coeff(H('num'));
+den1 = coeff(H('den'));//-------------
+A = den1(length(den1):-1:1);
+num2 = num1(length(num1):-1:1); //flip
+nonzero = find(num1);
+first_nz = nonzero(1);
+B = num2(first_nz:length(num2)); //-------------
+k = length(den1) - length(num1);
+endfunction
+
diff --git a/2048/CH9/EX9.20/pp_pid.sci b/2048/CH9/EX9.20/pp_pid.sci
new file mode 100755
index 000000000..7071ab671
--- /dev/null
+++ b/2048/CH9/EX9.20/pp_pid.sci
@@ -0,0 +1,15 @@
+// Solution to Aryabhatta's identity arising in PID controller design, namely Eq. 9.37 on page 363.
+// 9.20
+
+function [Rc,Sc] = pp_pid(B,A,k,phi,Delta)
+
+// Setting up and solving Aryabhatta identity
+dB = length(B) - 1; dA = length(A) - 1;
+[zk,dzk] = zpowk(k);
+[N,dN] = polmul(B,dB,zk,dzk);
+dDelta = length(Delta)-1;
+[D,dD] = polmul(A,dA,Delta,dDelta);
+dphi = length(phi)-1;
+[Sc,dSc,R,dR] = xdync(N,dN,D,dD,phi,dphi);
+Rc = convol(R,Delta);
+endfunction;
diff --git a/2048/CH9/EX9.21/g_s_cl2.xcos b/2048/CH9/EX9.21/g_s_cl2.xcos
new file mode 100755
index 000000000..23a9c5090
--- /dev/null
+++ b/2048/CH9/EX9.21/g_s_cl2.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.21/g_s_cl3.xcos b/2048/CH9/EX9.21/g_s_cl3.xcos
new file mode 100755
index 000000000..dab146c03
--- /dev/null
+++ b/2048/CH9/EX9.21/g_s_cl3.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.21/motor_pd.sce b/2048/CH9/EX9.21/motor_pd.sce
new file mode 100755
index 000000000..8408bc3d0
--- /dev/null
+++ b/2048/CH9/EX9.21/motor_pd.sce
@@ -0,0 +1,69 @@
+// DC motor with PID control, tuned through pole placement technique, as in Example 9.18.
+// 9.21
+
+exec('desired.sci',-1);
+exec('pp_pid.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('pd.sci',-1);
+exec('polyno.sci',-1);
+exec('myc2d.sci',-1);
+exec('zpowk.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+
+// Motor control problem
+// Transfer function
+
+a = [-1 0; 1 0]; b = [1; 0]; c = [0 1]; d = 0;
+G = syslin('c',a,b,c,d); Ts = 0.25;
+[B,A,k] = myc2d(G,Ts);
+[Ds,num,den] = ss2tf(G);
+
+// Transient specifications
+rise = 3; epsilon = 0.05;
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+Delta = 1; //No internal model of step used
+[Rc,Sc] = pp_pid(B,A,k,phi,Delta);
+
+// continuous time controller
+[K,taud,N] = pd(Rc,Sc,Ts);
+numb = K*[1 taud*(1+1/N)]; denb = [1 taud/N];
+numf = 1; denf = 1;
+
+// simulation parameters
+st = 1; // desired change in position
+t_init = 0; // simulation start time
+t_final = 20; // simulation end time
+st1 = 0;
+
+// continuous controller simulation: g_s_cl3.xcos
+num1 = 0; den1 = 1;
+
+// discrete controller simulation: g_s_cl2.xcos
+// u1: -0.1 to 0.8
+// y1: 0 to 1.4
+C = 0; D = 1; N = 1; gamm = 1; Tc = Sc;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Np,Rcp] = cosfil_ip(N,Rc); // N/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+Numb = polyno(numb,'s');
+Denb = polyno(denb,'s');
+Numf = polyno(numf,'s');
+Denf = polyno(denf,'s');
+Num1 = polyno(num1,'s');
+Den1 = polyno(den1,'s');
diff --git a/2048/CH9/EX9.21/u1_g_s_cl2.png b/2048/CH9/EX9.21/u1_g_s_cl2.png
new file mode 100755
index 000000000..862f872a9
--- /dev/null
+++ b/2048/CH9/EX9.21/u1_g_s_cl2.png
Binary files differ
diff --git a/2048/CH9/EX9.21/y1_g_s_cl2.png b/2048/CH9/EX9.21/y1_g_s_cl2.png
new file mode 100755
index 000000000..9f0ce2178
--- /dev/null
+++ b/2048/CH9/EX9.21/y1_g_s_cl2.png
Binary files differ
diff --git a/2048/CH9/EX9.22/pd.sci b/2048/CH9/EX9.22/pd.sci
new file mode 100755
index 000000000..110401281
--- /dev/null
+++ b/2048/CH9/EX9.22/pd.sci
@@ -0,0 +1,14 @@
+// PD control law from polynomial coefficients, as explained in Sec. 9.8.
+// 9.22
+
+function [K,taud,N] = pd(Rc,Sc,Ts)
+
+// Both Rc and Sc have to be degree one polynomials
+
+s0 = Sc(1); s1 = Sc(2);
+r1 = Rc(2);
+K = (s0+s1)/(1+r1);
+N = (s1-s0*r1)/r1/(s0+s1);
+taudbyN = -Ts*r1/(1+r1);
+taud = taudbyN * N;
+endfunction;
diff --git a/2048/CH9/EX9.3/polsplit2.sci b/2048/CH9/EX9.3/polsplit2.sci
new file mode 100755
index 000000000..524c35442
--- /dev/null
+++ b/2048/CH9/EX9.3/polsplit2.sci
@@ -0,0 +1,36 @@
+// Procedure to split a polynomial into good and bad factors, as discussed in Sec. 9.2.
+// 9.3
+// function [goodpoly,badpoly] = polsplit2(fac,a)
+// Splits a scalar polynomial of z^{-1} into good and bad
+// factors.
+// Input is a polynomial in increasing degree of z^{-1}
+// Optional input is a, where a <= 1.
+// Factor that has roots of z^{-1} outside a is called
+// good and the rest bad.
+// If a is not specified, it will be assumed as 1-1.0e-5
+
+function [goodpoly,badpoly] = polsplit2(fac,a)
+if argn(2) == 1, a = 1-1.0e-5; end
+if a>1 error('good polynomial is unstable'); end
+fac1 = poly(fac(length(fac):-1:1),'z','coeff');
+rts1 = roots(fac1);
+rts = rts1(length(rts1):-1:1);
+
+// extract good and bad roots
+badindex = find(abs(rts)>=a); // mtlb_find has been replaced by find
+badpoly = coeff(poly((rts(badindex)),"z","roots"));
+goodindex = find(abs(rts)<a); // mtlb_find has been replaced by find
+goodpoly = coeff(poly(rts(goodindex),"z","roots"));
+
+// scale by equating the largest terms
+[m,index] = max(abs(fac));
+goodbad = convol(goodpoly,badpoly);
+goodbad1 = goodbad(length(goodbad):-1:1);//--
+factor1 = fac(index)/goodbad1(index);//--
+goodpoly = goodpoly * factor1;
+goodpoly = goodpoly(length(goodpoly):-1:1);
+badpoly = badpoly(length(badpoly):-1:1);
+endfunction;
+
+
+
diff --git a/2048/CH9/EX9.4/desired.sci b/2048/CH9/EX9.4/desired.sci
new file mode 100755
index 000000000..d84e6c918
--- /dev/null
+++ b/2048/CH9/EX9.4/desired.sci
@@ -0,0 +1,11 @@
+// Calculation of desired closed loop characteristic polynomial, as discussed in Sec. 7.7.
+// 9.4
+
+// function [phi,dphi] = desired(Ts,rise,epsilon)
+// Based on transient requirements,
+// calculates closed loop characteristic polynomial
+
+function [phi,dphi] = desired(Ts,rise,epsilon)
+Nr = rise/Ts; omega = %pi/2/Nr; rho = epsilon^(omega/%pi);
+phi = [1 -2*rho*cos(omega) rho^2]; dphi = length(phi)-1;
+endfunction;
diff --git a/2048/CH9/EX9.5/pp_basic.sci b/2048/CH9/EX9.5/pp_basic.sci
new file mode 100755
index 000000000..c8fb0a356
--- /dev/null
+++ b/2048/CH9/EX9.5/pp_basic.sci
@@ -0,0 +1,26 @@
+// Design of 2-DOF pole placement controller, as discussed in Sec. 9.2.
+// 9.5
+
+// function [Rc,Sc,Tc,gamma] = pp_basic(B,A,k,phi)
+// calculates pole placement controller
+
+
+function [Rc,Sc,Tc,gamm] = pp_basic(B,A,k,phi)
+
+// Setting up and solving Aryabhatta identity
+[Ag,Ab] = polsplit2(A); dAb = length(Ab) - 1;
+[Bg,Bb] = polsplit2(B); dBb = length(Bb) - 1;
+
+[zk,dzk] = zpowk(k);
+
+[N,dN] = polmul(Bb,dBb,zk,dzk);
+dphi = length(phi) - 1;
+
+[S1,dS1,R1,dR1] = xdync(N,dN,Ab,dAb,phi,dphi);
+
+// Determination of control law
+Rc = convol(Bg,R1); Sc = convol(Ag,S1);
+Tc = Ag; gamm = sum(phi)/sum(Bb);
+
+endfunction;
+
diff --git a/2048/CH9/EX9.6/zpowk.sci b/2048/CH9/EX9.6/zpowk.sci
new file mode 100755
index 000000000..4b5b43e8d
--- /dev/null
+++ b/2048/CH9/EX9.6/zpowk.sci
@@ -0,0 +1,7 @@
+// Evaluates z^-k.
+// 9.6
+
+function [zk,dzk] = zpowk(k)
+zk = zeros(1,k+1); zk(1,k+1) = 1;
+dzk = k;
+endfunction
diff --git a/2048/CH9/EX9.7/basic_disc.xcos b/2048/CH9/EX9.7/basic_disc.xcos
new file mode 100755
index 000000000..78280d395
--- /dev/null
+++ b/2048/CH9/EX9.7/basic_disc.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.7/stb_disc.xcos b/2048/CH9/EX9.7/stb_disc.xcos
new file mode 100755
index 000000000..bacae0db5
--- /dev/null
+++ b/2048/CH9/EX9.7/stb_disc.xcos
@@ -0,0 +1 @@
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diff --git a/2048/CH9/EX9.7/u1_stb_disc.png b/2048/CH9/EX9.7/u1_stb_disc.png
new file mode 100755
index 000000000..da873794a
--- /dev/null
+++ b/2048/CH9/EX9.7/u1_stb_disc.png
Binary files differ
diff --git a/2048/CH9/EX9.7/unstb.sce b/2048/CH9/EX9.7/unstb.sce
new file mode 100755
index 000000000..b360cf96b
--- /dev/null
+++ b/2048/CH9/EX9.7/unstb.sce
@@ -0,0 +1,56 @@
+// Simulation of closed loop system with an unstable controller, as discussed in Example 9.5 on page 335.
+// 9.7
+
+exec('desired.sci',-1);
+exec('zpowk.sci',-1);
+exec('polmul.sci',-1);
+exec('polsplit2.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+exec('seshft.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('pp_basic.sci',-1);
+
+Ts = 1; B = [1 -3]; A = [1 2 -8]; k = 1;
+// Since k=1, tf is of the form z^-1
+[zk,dzk] = zpowk(k); // int1 = 0;//---- int1
+
+// Transient specifications
+rise = 10; epsilon = 0.1;
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+[Rc,Sc,Tc,gamm] = pp_basic(B,A,k,phi);
+
+// simulation parameters for basic_disc.xcos
+//While simulating for t_final = 100, set the limit of Y axis of each scope
+//u1: -0.2 to 3
+//y1: -0.1 to 1.2
+st = 1.0; // Desired change in setpoint
+t_init = 0; // Simulation start time
+t_final = 1000; // Simulation end time
+
+// Simulation parameters for stb_disc.xcos
+N_var = 0; C = 0; D = 1; N = 1;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Rcp1,Rcp2] = cosfil_ip(1,Rc); // 1/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Bp,Ap] = cosfil_ip(B,A); // B/A
+[zkp1,zkp2] = cosfil_ip(zk,1); // zk/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
+[Tcp,Rcp] = cosfil_ip(Tc,Rc); // Tc/Rc
+[Scp_b,Rcp_b] = cosfil_ip(Sc,Rc); // Sc/Rc
+
+
+
diff --git a/2048/CH9/EX9.7/y1_stb_disc.png b/2048/CH9/EX9.7/y1_stb_disc.png
new file mode 100755
index 000000000..d0c820764
--- /dev/null
+++ b/2048/CH9/EX9.7/y1_stb_disc.png
Binary files differ
diff --git a/2048/CH9/EX9.8/pp_im.sci b/2048/CH9/EX9.8/pp_im.sci
new file mode 100755
index 000000000..f1a512fea
--- /dev/null
+++ b/2048/CH9/EX9.8/pp_im.sci
@@ -0,0 +1,25 @@
+// Pole placement controller using internal model principle, as discussed in Sec. 9.4.
+// 9.8
+
+// function [Rc,Sc,Tc,gamma,phit] = pp_im(B,A,k,phi,Delta)
+// Calculates 2-DOF pole placement controller.
+
+function [Rc,Sc,Tc,gamm] = pp_im(B,A,k,phi,Delta)
+
+// Setting up and solving Aryabhatta identity
+[Ag,Ab] = polsplit3(A); dAb = length(Ab) - 1;
+[Bg,Bb] = polsplit3(B); dBb = length(Bb) - 1;
+
+[zk,dzk] = zpowk(k);
+
+[N,dN] = polmul(Bb,dBb,zk,dzk);
+dDelta = length(Delta)-1;
+[D,dD] = polmul(Ab,dAb,Delta,dDelta);
+dphi = length(phi)-1;
+
+[S1,dS1,R1,dR1] = xdync(N,dN,D,dD,phi,dphi);
+
+// Determination of control law
+Rc = convol(Bg,convol(R1,Delta)); Sc = convol(Ag,S1);
+Tc = Ag; gamm = sum(phi)/sum(Bb);
+endfunction;
diff --git a/2048/CH9/EX9.9/ball_im.sce b/2048/CH9/EX9.9/ball_im.sce
new file mode 100755
index 000000000..fc863c277
--- /dev/null
+++ b/2048/CH9/EX9.9/ball_im.sce
@@ -0,0 +1,60 @@
+// Pole placement controller, with internal model of a step, for the magnetically suspended ball problem, as discussed in Example 9.8 on page 339.
+// 9.9
+
+// PP control with internal model for ball problem
+exec('desired.sci',-1);
+exec('pp_im.sci',-1);
+exec('myc2d.sci',-1);
+exec('polsplit3.sci',-1);
+exec('zpowk.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('cindep.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('polyno.sci',-1);
+
+// Operating conditions
+M = 0.05; L = 0.01; R = 1; K = 0.0001; g = 9.81;
+
+// Equilibrium conditions
+hs = 0.01; is = sqrt(M*g*hs/K);
+
+// State space matrices
+a21 = K*is^2/M/hs^2; a23 = - 2*K*is/M/hs; a33 = - R/L;
+b3 = 1/L;
+a1 = [0 1 0; a21 0 a23; 0 0 a33];
+b1 = [0; 0; b3]; c1 = [1 0 0]; d1 = 0;
+
+// Transfer functions
+G = syslin('c',a1,b1,c1,d1); Ts = 0.01; [B,A,k] = myc2d(G,Ts);
+
+// Transient specifications
+rise = 0.1; epsilon = 0.05;
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+Delta = [1 -1]; //internal model of step used
+[Rc,Sc,Tc,gamm] = pp_im(B,A,k,phi,Delta);
+
+// simulation parameters for c_ss_cl.xcos
+st = 0.0001; //desired change in h, in m.
+t_init = 0; // simulation start time
+t_final = 0.5; //simulation end time
+xInitial = [0 0 0];
+N = 1; C = 0; D = 1; N_var = 0;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Np,Rcp] = cosfil_ip(N,Rc); // 1/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
diff --git a/2048/CH9/EX9.9/c_ss_cl.xcos b/2048/CH9/EX9.9/c_ss_cl.xcos
new file mode 100755
index 000000000..1ab7aa415
--- /dev/null
+++ b/2048/CH9/EX9.9/c_ss_cl.xcos
@@ -0,0 +1 @@
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