initial commit / add all books

53 files changed, 692 insertions, 0 deletions

diff --git a/29/CH11/EX11.1/exa11_1.jpg b/29/CH11/EX11.1/exa11_1.jpg
new file mode 100755
index 000000000..a12212ed2
--- /dev/null
+++ b/29/CH11/EX11.1/exa11_1.jpg
diff --git a/29/CH11/EX11.1/exa11_1.sce b/29/CH11/EX11.1/exa11_1.sce
new file mode 100755
index 000000000..7a9f5b62b
--- /dev/null
+++ b/29/CH11/EX11.1/exa11_1.sce
@@ -0,0 +1,9 @@
+//Caption:pole_zero_plot

+// example 11_1

+//page 468

+//transfer function:G(s)=((8*(s+3)*(s+4))/(s*(s+2)*(s^2+2*s+2)))

+s=%s;

+G=syslin('c',((8*(s+3)*(s+4))/(s*(s+2)*(s^2+2*s+2))));

+disp(G,"G(s)=");

+x=plzr(G)

+xgrid(2)
\ No newline at end of file
diff --git a/29/CH11/EX11.10.a/exa11_10_a.sce b/29/CH11/EX11.10.a/exa11_10_a.sce
new file mode 100755
index 000000000..9016f0db2
--- /dev/null
+++ b/29/CH11/EX11.10.a/exa11_10_a.sce
@@ -0,0 +1,21 @@
+//Caption:calculate_tr,Tp,Mp

+//example 11_10_a

+//page 478

+s=%s;

+G=16/(s^2+1.6*s)

+H=1;

+CL=G/.H

+disp(CL,"C(s)/R(s)=");

+b=denom(CL)

+c=coeff(b)

+//Wn^2=c(1,1)

+Wn=sqrt(c(1,1))//natural frequency

+//2*zeta*Wn=c(1,2)

+zeta=c(1,2)/(2*Wn)//damping ratio

+Wd=Wn*sqrt(1-zeta^2)//damped frequency

+Mp=(exp(-(zeta*%pi)/sqrt(1-zeta^2)))*100//max. overshoot

+tr=(%pi-atan(sqrt(1-zeta^2)/zeta))/(Wn*sqrt(1-zeta^2))//rise time

+Tp=%pi/Wd//peak time

+disp(Tp,"peak time=");

+disp(Mp,"max. peak overshoot=")

+disp(tr,"rise time=")
\ No newline at end of file
diff --git a/29/CH11/EX11.10.b/exa11_10_b.sce b/29/CH11/EX11.10.b/exa11_10_b.sce
new file mode 100755
index 000000000..c6ee7d48f
--- /dev/null
+++ b/29/CH11/EX11.10.b/exa11_10_b.sce
@@ -0,0 +1,30 @@
+//Caption:calculate_Td,tr,Tp,Mp

+//example 11_10_b

+//page 478

+s=%s;

+syms Td

+G=16/(s^2+1.6*s)

+G1=1+s*Td

+H=1;

+a=G*G1

+CL=a/.H

+CL=simple(CL)

+disp(CL,"C(s)/R(s)=");

+zeta=0.8//given

+//since zeta=0.8 so 2*zeta*Wn=1.6+16*Td

+Wn=sqrt(16)

+//so on solving 

+Td=0.3

+//so transfer function takes the form:

+CL1=(16+4.8*s)/(s^2+6.4*s+6)

+disp(CL1,"C(s)/R(s)=");

+Wn1=sqrt(16)

+//2*zeta1*Wn1=6.4

+zeta1=6.4/(2*Wn1)//damping ratio

+Wd=Wn1*sqrt(1-zeta1^2)//damped frequency

+Mp=(exp(-(zeta1*%pi)/sqrt(1-zeta1^2)))*100//max. overshoot

+tr=(%pi-atan(sqrt(1-zeta1^2)/zeta1))/(Wn1*sqrt(1-zeta1^2))//rise time

+Tp=%pi/Wd//peak time

+disp(Tp,"peak time=");

+disp(Mp,"max. peak overshoot=")

+disp(tr,"rise time=")

diff --git a/29/CH11/EX11.11/exa11_11.sce b/29/CH11/EX11.11/exa11_11.sce
new file mode 100755
index 000000000..969992909
--- /dev/null
+++ b/29/CH11/EX11.11/exa11_11.sce
@@ -0,0 +1,17 @@
+//Caption:expression_for_unit_step_response

+// example 11_11

+//page 481

+syms G1 G2 G3 H1 t;

+s=%s;

+G1=s+1;

+G2=1/(s+2);

+H2=1/(s*(s+1));

+H1=1/(s+2);

+a=G1/(1+G1*H1);

+b=a/(1+a*H2)

+y=b*G2;

+disp(y,"C(s)/R(s)=")

+//for unit step response R(s)=1/s;

+C=y*(1/s)

+c=ilaplace(C,s,t)

+disp(c,"expression_for_unit_step_response_is=")
\ No newline at end of file
diff --git a/29/CH11/EX11.12/exa11_12.sce b/29/CH11/EX11.12/exa11_12.sce
new file mode 100755
index 000000000..d08167d37
--- /dev/null
+++ b/29/CH11/EX11.12/exa11_12.sce
@@ -0,0 +1,15 @@
+//Caption:unit_step_and_impulse_response

+//example 11_12

+//page 482

+s=%s;

+syms t;

+G=(4*s+1)/(4*s^2)

+H=1;

+CL=G/.H

+disp(CL,"C(s)/R(s)=")

+y=ilaplace(CL,s,t);

+disp(y,"unit impulse response,c(t)=");

+//for unit step response R(s)=1/s;

+C=CL*(1/s)

+c=ilaplace(C,s,t)

+disp(c,"expression_for_unit_step_response_is=")
\ No newline at end of file
diff --git a/29/CH11/EX11.13/exa11_13.sce b/29/CH11/EX11.13/exa11_13.sce
new file mode 100755
index 000000000..7298b0815
--- /dev/null
+++ b/29/CH11/EX11.13/exa11_13.sce
@@ -0,0 +1,7 @@
+//Caption:determine_transfer_function

+//example 11_13

+//page 483

+syms t;

+f=exp(-t)*(1-cos(2*t))

+F=laplace(f,t,s);

+disp(F,"F(s)=")
\ No newline at end of file
diff --git a/29/CH11/EX11.14/exa11_14.sce b/29/CH11/EX11.14/exa11_14.sce
new file mode 100755
index 000000000..5dd2a2c1b
--- /dev/null
+++ b/29/CH11/EX11.14/exa11_14.sce
@@ -0,0 +1,31 @@
+//caption:determine_Wn,Wd,Tp,zeta_and_steady_state_error

+//example 11_14

+//page 484

+s=%s;

+syms t;

+G=20/((s+5)*(s+1))

+H=1;

+CL=G/.H

+disp(CL,"C(s)/R(s)=")

+b=denom(CL)

+disp(0,b,"=","the char. eq is:",)

+Wn=sqrt(25)//natural_frequency

+//2*zeta*Wn=6

+zeta=6/(2*Wn);//damping ratio

+d=zeta*Wn;//damping_factor

+z=sqrt(1-zeta^2);

+Wd=Wn*z;//damped_frequency_of_oscillation

+Mp=exp((-zeta*%pi)/z)*100;//%_max.peak_overshoot

+Tp=%pi/Wd//peak time

+tfirst=(2*%pi)/Wd   //time for first under shoot

+period=(2*%pi)/Wd    //period of oscillation

+ts=4/(zeta*Wn)//settling time

+N=(Wd/(2*%pi))*ts//no. of oscillations completed before reaching steady state

+disp(Wn,"natural frequency=");

+disp(zeta,"damping ratio=");

+disp(Wd,"damped frequency of oscillation=");

+disp(Tp,"peak time=");

+disp(Mp,"%_max.peak overshoot=");

+disp(tfirst,"time for first under shoot=");

+disp(period,"period of oscillation=");

+disp(N,"no. of oscillations completed before reaching steady state=");
\ No newline at end of file
diff --git a/29/CH11/EX11.15/exa11_15.sce b/29/CH11/EX11.15/exa11_15.sce
new file mode 100755
index 000000000..eed6c5763
--- /dev/null
+++ b/29/CH11/EX11.15/exa11_15.sce
@@ -0,0 +1,42 @@
+//caption:determine_Wn,Wd,zeta_and_steady_state_error

+//example 11_15

+//page 484

+s=%s;

+G=sym('25/(s*(s+5))');

+G=simple(G);

+H=1;

+CL=G/.H;

+CL=simple(CL);

+disp(CL,"C(s)/R(s)=");

+printf("the char. eq is:")

+disp("s^2+5*s+25")

+Wn=sqrt(25)//natural_frequency

+//2*zeta*Wn=5

+zeta=5/(2*Wn);//damping ratio

+d=zeta*Wn;//damping_factor

+z=sqrt(1-zeta^2);

+Wd=Wn*z;//damped_frequency_of_oscillation

+Mp=exp((-zeta*%pi)/z)*100;//%_max.peak_overshoot

+//steady state error for unit ramp input is:Ess= (2*zeta/Wn)

+Ess=(2*zeta/Wn);//steady state error

+disp("part(a):")

+disp(Wn,"natural_frequency=");

+disp(zeta,"damping ratio=");

+disp(Wd,"damped_frequency_of_oscillation=");

+disp(Mp,"%_max.peak_overshoot=");

+disp(Ess,"steady state error=");

+//if damping ratio is increased from 0.5 to 0.75 by incorporating tachometer feedback

+zeta=0.75;

+H1=sym('s*Kt')//tachometer_feedback

+CL1=G/(1+G*H1);

+CL1=simple(CL1);

+CL2=CL1/(1+H*CL1);

+CL2=simple(CL2);

+disp(CL2,"C(s)/R(s)=");

+Wn=sqrt(25);

+//2*zeta*Wn=25*Kt+5;

+Kt=(2*zeta*Wn-5)/25;//tachometer_gain

+Mp1=exp((-zeta*%pi)/sqrt(1-zeta^2))*100;//%_peak_overshoot

+disp("After applying tachometer feedback:")

+disp(Kt,"tachometer_gain=");

+disp(Mp1,"%_peak_overshoot=");

diff --git a/29/CH11/EX11.16/exa11_16.sce b/29/CH11/EX11.16/exa11_16.sce
new file mode 100755
index 000000000..d4fdcb636
--- /dev/null
+++ b/29/CH11/EX11.16/exa11_16.sce
@@ -0,0 +1,16 @@
+//caption:determine_Kp_Kv_Ka

+//example 11_16

+//page 485

+s=%s;

+syms t;

+num=10

+den=sym('s^2+6*s+10');

+GH=num/den;

+GH=simple(GH);

+disp(GH,"G(s)H(s)=");

+Kp=limit(GH,s,0);//static positional error coefficient

+disp(Kp,"static positional error coefficient=");

+Kv=limit(s*GH,s,0);//static velocity error coefficient

+disp(Kv,"static velocity error coefficient=");

+Ka=limit(s^2*GH,s,0);//static acceleration error coefficient

+disp(Ka,"static acceleration error coefficient=");

diff --git a/29/CH11/EX11.17/exa11_17.sce b/29/CH11/EX11.17/exa11_17.sce
new file mode 100755
index 000000000..6ae2d6118
--- /dev/null
+++ b/29/CH11/EX11.17/exa11_17.sce
@@ -0,0 +1,16 @@
+//caption:determine_Kp_Kv_Ka

+//example 11_16

+//page 485

+s=%s;

+syms t;

+num=sym('100*(s+2)*(s+40)');

+den=sym('(s^3*(s^2+4*s+200))');

+GH=num/den;

+GH=simple(GH);

+disp(GH,"G(s)H(s)=");

+Kp=limit(GH,s,0);//static positional error coefficient

+disp(Kp,"static positional error coefficient=");

+Kv=limit(s*GH,s,0);//static velocity error coefficient

+disp(Kv,"static velocity error coefficient=");

+Ka=limit(s^2*GH,s,0);//static acceleration error coefficient

+disp(Ka,"static acceleration error coefficient=");

diff --git a/29/CH11/EX11.18/exa11_18.sce b/29/CH11/EX11.18/exa11_18.sce
new file mode 100755
index 000000000..d7dc190ce
--- /dev/null
+++ b/29/CH11/EX11.18/exa11_18.sce
@@ -0,0 +1,30 @@
+//caption:determine_Kp_Kv_Ka

+//example 11_18

+//page 488

+s=%s;

+syms t;

+num=sym('2*(s^2+3*s+20)');

+den=sym('s*(s+2)*(s^2+4*s+10)');

+GH=num/den;

+GH=simple(GH);

+disp(GH,"G(s)H(s)=");

+input1=5;

+Kp=limit(GH,s,0);//static positional error coefficient

+Ess=5*(1/(1+Kp));//steady state error

+e=(1/(%inf+1));

+e=0;

+Ess=e;

+disp(Kp,"static positional error coefficient=");

+disp(Ess,"steady state error=");

+input2=4*t;

+Kv=limit(s*GH,s,0);//static velocity error coefficient

+Ess=(1/Kv)*4;//steady state error

+disp(Kv,"static velocity error coefficient=");

+disp(Ess,"steady state error=");

+input3=(4*t^2)/2;

+Ka=limit(s^2*GH,s,0);//static acceleration error coefficient

+Ess=(1/Ka)*4;//steady state error

+disp(Ka,"static acceleration error coefficient=");

+disp("steady state error=");

+disp("infinity")

+

diff --git a/29/CH11/EX11.19/exa11_19.sce b/29/CH11/EX11.19/exa11_19.sce
new file mode 100755
index 000000000..4f36c748c
--- /dev/null
+++ b/29/CH11/EX11.19/exa11_19.sce
@@ -0,0 +1,8 @@
+//Caption:determine_transfer_function

+//example 11_19

+//page 489

+syms t;

+s=%s;

+c=0.5+(1.25*exp(-t))-(1.75*exp(-12*t));

+C=laplace(c,t,s);

+disp(C,"C(s)=")
\ No newline at end of file
diff --git a/29/CH11/EX11.2/exa11_2.sce b/29/CH11/EX11.2/exa11_2.sce
new file mode 100755
index 000000000..f0cc432e2
--- /dev/null
+++ b/29/CH11/EX11.2/exa11_2.sce
@@ -0,0 +1,13 @@
+//Caption:transfer_function

+// example 11_2

+//page 469

+syms G1 G2 G3 H1;

+s=%s;

+G1=4/(s*(s+4));

+G2=s+1.2;

+G3=s+0.8;

+H1=1;

+H2=(G2+G3);

+a=G1/.H1;

+y=a/(1+a*H2)

+disp(y,"C(s)/R(s)=")
\ No newline at end of file
diff --git a/29/CH11/EX11.21.a/exa11_21_a.sce b/29/CH11/EX11.21.a/exa11_21_a.sce
new file mode 100755
index 000000000..8d455ff5a
--- /dev/null
+++ b/29/CH11/EX11.21.a/exa11_21_a.sce
@@ -0,0 +1,17 @@
+//Caption:roots_of_characterstics_equation

+//example 11_21_a

+//page 491

+s=%s;

+num=210

+den=sym('s*(s+2)*(s^2+12*s+6)');

+G=num/den;

+G=simple(G);

+H=1;

+n1=poly([210],'s',"coeff");

+d1=poly([210 192 390 44 1],'s',"coeff");

+CL=syslin('c',n1,d1)

+disp(CL,"C(s)/R(s)=")

+b=denom(CL)

+disp(0,"=",b,"the char. eq is:",)

+r=roots(b);

+disp(r,"roots of char. eq. are=");

diff --git a/29/CH11/EX11.21.b/exa11_21_b.jpg b/29/CH11/EX11.21.b/exa11_21_b.jpg
new file mode 100755
index 000000000..88c73dff9
--- /dev/null
+++ b/29/CH11/EX11.21.b/exa11_21_b.jpg
diff --git a/29/CH11/EX11.21.b/exa11_21_b.sce b/29/CH11/EX11.21.b/exa11_21_b.sce
new file mode 100755
index 000000000..b7567a3d7
--- /dev/null
+++ b/29/CH11/EX11.21.b/exa11_21_b.sce
@@ -0,0 +1,16 @@
+//Caption:bode_plot

+//example 11_21_b

+//page 491

+s=%s;

+num=210

+den=(s*(s+2)*(s^2+12*s+6));

+g=num/den;

+G=syslin('c',g)

+fmin=0.01; 

+fmax=100; 

+bode(G, fmin, fmax) 

+show_margins(G)

+gm=g_margin(G)

+pm=p_margin(G)

+disp(gm,"gain_margin=");

+disp(pm,"phase_margin=");
\ No newline at end of file
diff --git a/29/CH11/EX11.22/exa11_22.jpg b/29/CH11/EX11.22/exa11_22.jpg
new file mode 100755
index 000000000..fcab09709
--- /dev/null
+++ b/29/CH11/EX11.22/exa11_22.jpg
diff --git a/29/CH11/EX11.22/exa11_22.sce b/29/CH11/EX11.22/exa11_22.sce
new file mode 100755
index 000000000..a447467f0
--- /dev/null
+++ b/29/CH11/EX11.22/exa11_22.sce
@@ -0,0 +1,18 @@
+//caption:gain_margin_and_phase_margin

+//example 11_22

+//page 493

+s=%s;

+g=((2*(s+0.25))/(s^2*(s+1)*(s+0.5)));

+G=syslin('c',g)

+fmin=0.1; 

+fmax=100; 

+bode(G, fmin, fmax) 

+[gm,freqGM]=g_margin(G);

+[pm,freqPM]=p_margin(G);

+show_margins(G);

+disp(gm,"gain_margin=");

+disp((freqGM*2*%pi),"gain_margin_freq=");

+disp(pm,"phase_margin=");

+disp((freqPM*2*%pi),"phase_margin_freq=");

+show_margins(G);

+disp("since gain and phase margin are both negative so system is unstable")

diff --git a/29/CH11/EX11.24/exa11_24.jpg b/29/CH11/EX11.24/exa11_24.jpg
new file mode 100755
index 000000000..d03e674ba
--- /dev/null
+++ b/29/CH11/EX11.24/exa11_24.jpg
diff --git a/29/CH11/EX11.24/exa11_24.sce b/29/CH11/EX11.24/exa11_24.sce
new file mode 100755
index 000000000..5dde825b9
--- /dev/null
+++ b/29/CH11/EX11.24/exa11_24.sce
@@ -0,0 +1,22 @@
+//caption:stability_using_Nyquist_criterion
+//example 11_24
+//page 496
+clf;
+s=%s;
+s1=-s;
+g=50/((s+1)*(s+2));
+g1=50/((s1+1)*(s1+2));
+GH=syslin('c',g)
+GH1=syslin('c',g1)
+nyquist(GH);
+nyquist(GH1);
+mtlb_axis([-5 30 -20 20]);
+xtitle('Nyquist plot of 50/((s+1)*(s+2))')
+figure;
+show_margins(GH,'nyquist')
+disp("since the point(-1+%i0) is not encircled by Nyquist plot ,so N=0 and P=0(given)")
+N=0;//no. of encirclement of -1+%i0 by G(s)H(s) plot
+P=0;//no. of poles of G(s)H(s) with positive real part
+Z=P-N;//np.of zeros of 1+G(s)H(s)=0 with positive real part
+disp(Z,"Z=")
+disp("as Z=0,there are no roots of closed loop characterstics eq having positive real part, hence system is stable.")
\ No newline at end of file
diff --git a/29/CH11/EX11.25/exa11_25.jpg b/29/CH11/EX11.25/exa11_25.jpg
new file mode 100755
index 000000000..b2eccce6c
--- /dev/null
+++ b/29/CH11/EX11.25/exa11_25.jpg
diff --git a/29/CH11/EX11.25/exa11_25.sce b/29/CH11/EX11.25/exa11_25.sce
new file mode 100755
index 000000000..796050712
--- /dev/null
+++ b/29/CH11/EX11.25/exa11_25.sce
@@ -0,0 +1,14 @@
+//caption:stability_using_Nyquist_criterion
+//example 11_25
+//page 497
+clf();
+s=%s;
+s1=-s;
+g=(2.2/(s*(s+1)*(s^2+2*s+2)))
+g1=(2.2/(s1*(s1+1)*(s1^2+2*s1+2)))
+GH=syslin('c',g);
+GH1=syslin('c',g1);
+nyquist(GH);
+nyquist(GH1);
+mtlb_axis([-2.5 0.2 -75 75]);
+disp("as the nyquist plot passes through the point -1+%i*0, so system is marginally stable and output represents sustained oscillations.")
\ No newline at end of file
diff --git a/29/CH11/EX11.26.i/exa11_26_i.jpg b/29/CH11/EX11.26.i/exa11_26_i.jpg
new file mode 100755
index 000000000..6716f0a49
--- /dev/null
+++ b/29/CH11/EX11.26.i/exa11_26_i.jpg
diff --git a/29/CH11/EX11.26.i/exa11_26_i.sce b/29/CH11/EX11.26.i/exa11_26_i.sce
new file mode 100755
index 000000000..1b8222b22
--- /dev/null
+++ b/29/CH11/EX11.26.i/exa11_26_i.sce
@@ -0,0 +1,22 @@
+//caption:stability_using_Nyquist_criterion
+//example 11_26_i
+//page 497
+clf();
+s=%s;
+s1=-s;
+disp("for K=10")
+g=(10*(s-1))/((s+2)*(s+3));
+g1=(10*(s1-1))/((s1+2)*(s1+3));
+GH=syslin('c',g);
+GH1=syslin('c',g1);
+nyquist(GH);
+nyquist(GH1);
+mtlb_axis([-2 2 -2.5 2.5]);
+xtitle('Nyquist plot of (10*(s-1))/((s+2)*(s+3));')
+disp("since the point(-1+%i0) is  encircled clockwise by Nyquist plot ,so N=-1 and P=1(given)")
+N=-1;//no. of encirclement of -1+%i0 by G(s)H(s) plot anticlockwise
+P=0;//no. of poles of G(s)H(s) with positive real part
+Z=P-N;//np.of zeros of 1+G(s)H(s)=0 with positive real part
+disp(Z,"Z=")
+disp("as Z=1,there is one roots of closed loop characterstics eq having positive real part, hence system is unstable.")
+
diff --git a/29/CH11/EX11.26.ii/exa11_26_ii.jpg b/29/CH11/EX11.26.ii/exa11_26_ii.jpg
new file mode 100755
index 000000000..5dd6a5001
--- /dev/null
+++ b/29/CH11/EX11.26.ii/exa11_26_ii.jpg
diff --git a/29/CH11/EX11.26.ii/exa11_26_ii.sce b/29/CH11/EX11.26.ii/exa11_26_ii.sce
new file mode 100755
index 000000000..42b1ba732
--- /dev/null
+++ b/29/CH11/EX11.26.ii/exa11_26_ii.sce
@@ -0,0 +1,21 @@
+//caption:stability_using_Nyquist_criterion
+//example 11_26_ii
+//page 497
+clf();
+s=%s;
+s1=-s;
+disp("for K=4")
+g=(4*(s-1))/((s+2)*(s+3));
+g1=(4*(s1-1))/((s1+2)*(s1+3));
+GH=syslin('c',g);
+GH1=syslin('c',g1);
+nyquist(GH);
+nyquist(GH1);
+mtlb_axis([-1 1 -1 1]);
+xtitle('Nyquist plot of (2.5*(s+1))/((s+0.5)*(s-2))')
+disp("since the point(-1+%i0) is  encircled anticlockwise by Nyquist plot ,so N=1 and P=1(given)")
+N=0;//no. of encirclement of -1+%i0 by G(s)H(s) plot anticlockwise
+P=0;//no. of poles of G(s)H(s) with positive real part
+Z=P-N;//np.of zeros of 1+G(s)H(s)=0 with positive real part
+disp(Z,"Z=")
+disp("as Z=0,there are no roots of closed loop characterstics eq having positive real part, hence system is stable.")
diff --git a/29/CH11/EX11.27/exa11_27.jpg b/29/CH11/EX11.27/exa11_27.jpg
new file mode 100755
index 000000000..9df94c382
--- /dev/null
+++ b/29/CH11/EX11.27/exa11_27.jpg
diff --git a/29/CH11/EX11.27/exa11_27.sce b/29/CH11/EX11.27/exa11_27.sce
new file mode 100755
index 000000000..92db16f7b
--- /dev/null
+++ b/29/CH11/EX11.27/exa11_27.sce
@@ -0,0 +1,9 @@
+//caption:root_locus

+//example 11_27

+//page 499

+s=%s;

+clf();

+g=((s^2+4)/(s*(s+1)));

+G=syslin('c',g)

+evans(g,200)

+xgrid(2)

diff --git a/29/CH11/EX11.28/exa11_28.jpg b/29/CH11/EX11.28/exa11_28.jpg
new file mode 100755
index 000000000..6349acdae
--- /dev/null
+++ b/29/CH11/EX11.28/exa11_28.jpg
diff --git a/29/CH11/EX11.28/exa11_28.sce b/29/CH11/EX11.28/exa11_28.sce
new file mode 100755
index 000000000..7d271c3ca
--- /dev/null
+++ b/29/CH11/EX11.28/exa11_28.sce
@@ -0,0 +1,9 @@
+//caption:root_locus

+//example 11_28

+//page 501

+s=%s;

+clf();

+g=1/(s*(s+2)*(s^2+2*s+2));

+G=syslin('c',g)

+evans(g,200)

+xgrid(2)

diff --git a/29/CH11/EX11.29/exa11_29.jpg b/29/CH11/EX11.29/exa11_29.jpg
new file mode 100755
index 000000000..ee14900a3
--- /dev/null
+++ b/29/CH11/EX11.29/exa11_29.jpg
diff --git a/29/CH11/EX11.29/exa11_29.sce b/29/CH11/EX11.29/exa11_29.sce
new file mode 100755
index 000000000..ffbaa88e8
--- /dev/null
+++ b/29/CH11/EX11.29/exa11_29.sce
@@ -0,0 +1,8 @@
+//caption:root_locus

+//example 11_29

+//page 502

+s=%s;

+g=1/(s*(s+1)*(s+3));

+G=syslin('c',g)

+evans(g,200)

+xgrid(2)
\ No newline at end of file
diff --git a/29/CH11/EX11.3/exa11_3.sce b/29/CH11/EX11.3/exa11_3.sce
new file mode 100755
index 000000000..96746dbea
--- /dev/null
+++ b/29/CH11/EX11.3/exa11_3.sce
@@ -0,0 +1,15 @@
+//Caption:transfer_function

+// example 11_3

+//page 470

+syms G1 G2 G3 H1;

+s=%s;

+G1=4;

+G2=s

+G3=1/(s*(s+2));

+H1=0.5;

+H2=1;

+a=(G1+G2);

+b=(a*G3);

+c=b/.H1;

+y=c/(1+c*H2)

+disp(y,"C(s)/R(s)=")
\ No newline at end of file
diff --git a/29/CH11/EX11.30/exa11_30.jpg b/29/CH11/EX11.30/exa11_30.jpg
new file mode 100755
index 000000000..53e64a179
--- /dev/null
+++ b/29/CH11/EX11.30/exa11_30.jpg
diff --git a/29/CH11/EX11.30/exa11_30.sce b/29/CH11/EX11.30/exa11_30.sce
new file mode 100755
index 000000000..0d914079e
--- /dev/null
+++ b/29/CH11/EX11.30/exa11_30.sce
@@ -0,0 +1,8 @@
+//caption:root_locus

+//example 11_30

+//page 503

+s=%s;

+g=1/(s*(s+4)*(s^2+4*s+13));

+G=syslin('c',g)

+evans(g,200)

+xgrid(2)
\ No newline at end of file
diff --git a/29/CH11/EX11.31/exa11_31.sce b/29/CH11/EX11.31/exa11_31.sce
new file mode 100755
index 000000000..a1ed17813
--- /dev/null
+++ b/29/CH11/EX11.31/exa11_31.sce
@@ -0,0 +1,38 @@
+//caption:design_lead_compensator

+//example 11_31

+//page 339

+s=%s;

+clf();

+syms K;

+g=(K/(s*(1+0.2*s)));

+Kv=limit(s*g,s,0);//static velocity error coefficient

+//since Kv=10

+K=10;

+g=(10/(s*(1+0.2*s)));

+G=syslin('c',g)

+fmin=0.01; 

+fmax=100; 

+bode(G, fmin, fmax) 

+show_margins(G)

+[gm,freqGM]=g_margin(G);

+[pm,freqPM]=p_margin(G);

+disp(gm,"gain_margin=");

+disp((freqGM*2*%pi),"gain_margin_freq=");

+disp(pm,"phase_margin=");

+disp((freqPM*2*%pi),"phase_margin_freq_or_gain_cross_over_frequency=");

+disp("since P.M is less than desired value so we need phase lead network ")

+disp("selecting zero of lead compensating network at w=5.5rad/sec and pole at w=13.8rad/sec and applying gain to account attenuatin factor .")

+gc=(1+0.18*s)/(1+0.072*s)

+Gc=syslin('c',gc)

+disp(Gc,"transfer function of lead compensator=");

+G1=G*Gc

+disp(G1,"overall transfer function=");

+fmin=0.01; 

+fmax=100; 

+figure();

+bode(G1, fmin, fmax);

+show_margins(G1)

+[gm,freqGM]=g_margin(G1);

+[pm,freqPM]=p_margin(G1);

+disp(pm,"phase_margin_of_compensated_system=");

+disp((freqPM*2*%pi),"gain_cross_over_frequency=");
\ No newline at end of file
diff --git a/29/CH11/EX11.31/exa11_31_compensated.jpg b/29/CH11/EX11.31/exa11_31_compensated.jpg
new file mode 100755
index 000000000..8d5c8ae82
--- /dev/null
+++ b/29/CH11/EX11.31/exa11_31_compensated.jpg
diff --git a/29/CH11/EX11.31/exa11_31_uncompensated.jpg b/29/CH11/EX11.31/exa11_31_uncompensated.jpg
new file mode 100755
index 000000000..50b40a888
--- /dev/null
+++ b/29/CH11/EX11.31/exa11_31_uncompensated.jpg
diff --git a/29/CH11/EX11.32/exa11_32.jpg b/29/CH11/EX11.32/exa11_32.jpg
new file mode 100755
index 000000000..3f9e2f71f
--- /dev/null
+++ b/29/CH11/EX11.32/exa11_32.jpg
diff --git a/29/CH11/EX11.32/exa11_32.sce b/29/CH11/EX11.32/exa11_32.sce
new file mode 100755
index 000000000..b145d6288
--- /dev/null
+++ b/29/CH11/EX11.32/exa11_32.sce
@@ -0,0 +1,12 @@
+//caption:nicholas_chart

+//example 11_32

+//page 507

+s=%s;

+num=20;

+den=(s*(s+2)*(s+5))

+g=num/den

+G=syslin('c',g)

+fmin=0.01

+fmax=100

+black(G,fmin,fmax)

+xgrid(2)

diff --git a/29/CH11/EX11.33/exa11_33.sce b/29/CH11/EX11.33/exa11_33.sce
new file mode 100755
index 000000000..69358878b
--- /dev/null
+++ b/29/CH11/EX11.33/exa11_33.sce
@@ -0,0 +1,11 @@
+//caption:obtain_state_matrix

+//example 11_33

+//page 509

+s=%s;

+g=(s+2)/((s+1)*(s+3));

+CL=syslin('c',g);

+disp(CL,"C(s)/R(s)=");

+SS=tf2ss(CL)

+[Ac,Bc,U,ind]=canon(SS(2),SS(3))

+disp(SS,"state space matrix=")

+disp(Ac,"Ac",Bc,"Bc",U,"U",ind,"ind")
\ No newline at end of file
diff --git a/29/CH11/EX11.34/exa11_34.sce b/29/CH11/EX11.34/exa11_34.sce
new file mode 100755
index 000000000..40344a3e4
--- /dev/null
+++ b/29/CH11/EX11.34/exa11_34.sce
@@ -0,0 +1,11 @@
+//caption:obtain_state_matrix

+//example 11_34

+//page 509

+s=%s;

+g=(s^2+s+2)/(s^3+9*s^2+26*s+24);

+CL=syslin('c',g);

+disp(CL,"C(s)/R(s)=");

+SS=tf2ss(CL)

+[Ac,Bc,U,ind]=canon(SS(2),SS(3))

+disp(SS,"state space matrix=")

+disp(Ac,"Ac",Bc,"Bc",U,"U",ind,"ind")
\ No newline at end of file
diff --git a/29/CH11/EX11.35/exa11_35.sce b/29/CH11/EX11.35/exa11_35.sce
new file mode 100755
index 000000000..78c235041
--- /dev/null
+++ b/29/CH11/EX11.35/exa11_35.sce
@@ -0,0 +1,11 @@
+//caption:obtain_state_matrix

+//example 11_35

+//page 510

+s=%s;

+g=1/(s^2+2*s+5);

+CL=syslin('c',g);

+disp(CL,"C(s)/R(s)=");

+SS=tf2ss(CL)

+[Ac,Bc,U,ind]=canon(SS(2),SS(3))

+disp(SS,"state space matrix=")

+disp(Ac,"Ac",Bc,"Bc",U,"U",ind,"ind")
\ No newline at end of file
diff --git a/29/CH11/EX11.36/exa11_36.sce b/29/CH11/EX11.36/exa11_36.sce
new file mode 100755
index 000000000..4ae1383d8
--- /dev/null
+++ b/29/CH11/EX11.36/exa11_36.sce
@@ -0,0 +1,21 @@
+//caption:state_transition_matrix

+//example 11_36

+//page 511

+s=%s;

+syms t

+A=[1 4;-2 -5]

+[r c]=size(A);//size of matrix A

+p=s*eye(r,c)-A;//s*I-A where I is identity matrix

+q=det(p)//determinant of sI-A

+r=inv(p)//inverse of sI-A

+//for calculating state transistion matrix

+ip=[0 0;0 0]

+i=1;j=1;

+for i=1:2

+  for j=1:2

+    ip(i,j)=ilaplace(r(i,j),s,t);

+    j=j+1;

+  end

+  i=i+1;

+end

+disp(ip,"state transistion matrix,ip(t)=");
\ No newline at end of file
diff --git a/29/CH11/EX11.37/exa11_37.sce b/29/CH11/EX11.37/exa11_37.sce
new file mode 100755
index 000000000..14abd3a88
--- /dev/null
+++ b/29/CH11/EX11.37/exa11_37.sce
@@ -0,0 +1,13 @@
+//caption:check_for_contrallability_of_system

+//example 11_37

+//page 512

+A=[1 1;0 -1]

+B=[1;0]

+P=cont_mat(A,B);

+disp(P,"Controllability Matrix=");

+d=determ(P)

+if d==0

+  printf("matrix is singular, so system is uncontrollable");

+else

+  printf("system is controllable");

+end;
\ No newline at end of file
diff --git a/29/CH11/EX11.38/exa11_38.sce b/29/CH11/EX11.38/exa11_38.sce
new file mode 100755
index 000000000..7ab10215a
--- /dev/null
+++ b/29/CH11/EX11.38/exa11_38.sce
@@ -0,0 +1,13 @@
+//caption:determine_transfer_function

+//example 11_38

+//page 513

+s=%s

+A=[-5 1;-6 0]

+B=[1;2]

+C=[2 1]

+D=0;

+[r c]=size(A);//size of matrix A

+p=s*eye(r,c)-A;//s*I-A where I is identity matrix

+r=inv(p)//inverse of sI-A

+G=C*r*B+D//transfer matrix

+disp(G,"transfer matrix=")

diff --git a/29/CH11/EX11.39/exa11_39.sce b/29/CH11/EX11.39/exa11_39.sce
new file mode 100755
index 000000000..93a54ce28
--- /dev/null
+++ b/29/CH11/EX11.39/exa11_39.sce
@@ -0,0 +1,13 @@
+//caption:determine_transfer_matrix

+//example 11_39

+//page 513

+s=%s

+A=[0 1;-6 -5]

+B=[0;1]

+C=[2 1]

+D=0;

+[r c]=size(A);//size of matrix A

+p=s*eye(r,c)-A;//s*I-A where I is identity matrix

+r=inv(p)//inverse of sI-A

+G=C*r*B+D//transfer matrix

+disp(G,"transfer matrix=")

diff --git a/29/CH11/EX11.4/exa11_4.sce b/29/CH11/EX11.4/exa11_4.sce
new file mode 100755
index 000000000..b8eda80c9
--- /dev/null
+++ b/29/CH11/EX11.4/exa11_4.sce
@@ -0,0 +1,25 @@
+//caption:determine_Wn,zeta_and_Mp

+//example 11_4

+//page 471

+s=%s;

+num=1;

+den=sym('s*(1+0.5*s)*(1+0.2*s)');

+c=num/den;

+c=simple(c);

+disp(c,"C(s)/E(s)=");

+G=c;

+H=1;

+CL=G/(1+G*H);

+CL=simple(CL);

+disp(CL,"C(s)/R(s)=");

+A=pfss((10/(s^3+7*s^2+10*s+10)));

+d=denom(A(1));

+b=coeff(denom(A(1)))

+printf("for oscillatory roots:")

+Wn=sqrt(b(1,1));//natural_frequency

+//2*zeta*Wn=1.5;

+zeta=1.5/(2*Wn);//damping ratio

+Mp=exp((-zeta*%pi)/sqrt(1-zeta^2))*100;//%_peak_overshoot

+disp(Wn,"natural_frequency,Wn=");

+disp(zeta,"damping ratio,zeta=");

+disp(Mp,"%_peak_overshoot,Mp=");
\ No newline at end of file
diff --git a/29/CH11/EX11.5/exa11_6.sce b/29/CH11/EX11.5/exa11_6.sce
new file mode 100755
index 000000000..63e92b1d5
--- /dev/null
+++ b/29/CH11/EX11.5/exa11_6.sce
@@ -0,0 +1,22 @@
+//Caption:time_response_for_unit_step_function

+//example 11_6

+//page 474

+s=%s;

+syms t;

+G=(s+2)/(s*(s+1))

+H=1;

+CL=G/.H

+disp(CL,"C(s)/R(s)=")

+y=ilaplace(CL,s,t);

+disp(y,"c(t)=");

+b=denom(CL)

+c=coeff(b)

+//Wn^2=c(1,1)

+Wn=sqrt(c(1,1))//natural frequency

+//2*zeta*Wn=c(1,2)

+zeta=c(1,2)/(2*Wn)//damping ratio

+Wd=Wn*sqrt(1-zeta^2)//damped frequency

+tr=(%pi-atan(sqrt(1-zeta^2)/zeta))/(Wn*sqrt(1-zeta^2))

+Mp=(exp(-(zeta*%pi)/sqrt(1-zeta^2)))*100//max. overshoot

+disp(tr,"rise time=");

+disp(Mp,"max. peak overshoot=");
\ No newline at end of file
diff --git a/29/CH11/EX11.7/exa11_7.sce b/29/CH11/EX11.7/exa11_7.sce
new file mode 100755
index 000000000..ee1900a1b
--- /dev/null
+++ b/29/CH11/EX11.7/exa11_7.sce
@@ -0,0 +1,20 @@
+//Caption:time_response_for_unit_step_function

+//example 11_7

+//page 475

+s=%s;

+syms t;

+CL=(s+2)/(s^2+2*s+2)

+disp(CL,"C(s)/R(s)=")

+y=ilaplace(CL,s,t);

+disp(y,"c(t)=");

+b=denom(CL)

+c=coeff(b)

+//Wn^2=c(1,1)

+Wn=sqrt(c(1,1))//natural frequency

+//2*zeta*Wn=c(1,2)

+zeta=c(1,2)/(2*Wn)//damping ratio

+Wd=Wn*sqrt(1-zeta^2)//damped frequency

+Tp=%pi/Wd//peak time

+Mp=(exp(-(zeta*%pi)/sqrt(1-zeta^2)))*100//max. overshoot

+disp(Tp,"peak time=");

+disp(Mp,"max. peak overshoot=")
\ No newline at end of file
diff --git a/29/CH11/EX11.8/exa11_8.sce b/29/CH11/EX11.8/exa11_8.sce
new file mode 100755
index 000000000..2bd7e7fef
--- /dev/null
+++ b/29/CH11/EX11.8/exa11_8.sce
@@ -0,0 +1,28 @@
+//Caption:time_response_for_unit_step_function

+//example 11_8

+//page 476

+s=%s;

+syms t;

+G=(20)/((s+1)*(s+5))

+H=1;

+CL=G/.H

+disp(CL,"C(s)/R(s)=")

+y=ilaplace(CL,s,t);

+disp(y,"c(t)=");

+b=denom(CL)

+c=coeff(b)

+//Wn^2=c(1,1)

+Wn=sqrt(c(1,1))//natural frequency

+//2*zeta*Wn=c(1,2)

+zeta=c(1,2)/(2*Wn)//damping ratio

+Wd=Wn*sqrt(1-zeta^2)//damped frequency

+Mp=(exp(-(zeta*%pi)/sqrt(1-zeta^2)))*100//max. overshoot

+Tp=%pi/Wd//peak time

+t=(2*%pi)/(Wn*sqrt(1-zeta^2))//period of oscillation

+ts=4/(zeta*Wn)//settling time

+N=Wd/(2*%pi)*ts//no. of oscillations completed before reaching steady state

+disp(Tp,"peak time=");

+disp(Mp,"max. peak overshoot=");

+disp(t,"period of oscillation");

+disp(N,"no. of oscillations completed before reaching steady state=");

+disp(ts,"settling time=")

diff --git a/29/CH11/EX11.9/exa11_9.sce b/29/CH11/EX11.9/exa11_9.sce
new file mode 100755
index 000000000..bb18bf5f5
--- /dev/null
+++ b/29/CH11/EX11.9/exa11_9.sce
@@ -0,0 +1,20 @@
+//Caption:time_response_for_unit_step_function

+//example 11_9

+//page 476

+s=%s;

+syms t;

+CL=(4*s+4)/(s^2+2*s+5)

+disp(CL,"C(s)/R(s)=")

+y=ilaplace(CL,s,t);

+disp(y,"c(t)=");

+b=denom(CL)

+c=coeff(b)

+//Wn^2=c(1,1)

+Wn=sqrt(c(1,1))//natural frequency

+//2*zeta*Wn=c(1,2)

+zeta=c(1,2)/(2*Wn)//damping ratio

+Wd=Wn*sqrt(1-zeta^2)//damped frequency

+Mp=(exp(-(zeta*%pi)/sqrt(1-zeta^2)))*100//max. overshoot

+Tp=%pi/Wd//peak time

+disp(Tp,"peak time=");

+disp(Mp,"max. peak overshoot=");
\ No newline at end of file