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+//Example 7.25

+// An estimator design for a simple pendulum

+

+xdel(winsid())//close all graphics Windows

+clear;

+clc;

+//------------------------------------------------------------------

+// State space representation

+w0=1;

+F=[0 1; -w0^2 0];

+G=[0 1]';

+H=[1 0];

+J=0;

+n=sqrt(length(F));//order of the system

+// Desired estimator poles

+Pe=[-10*w0 -10*w0];

+// Observer gain matrix for system 

+Lt=ppol(F',H',Pe);

+L=Lt';

+disp(L,"L=" );

+//------------------------------------------------------------------

+//simulation for closed loop system

+x0=[1 0]' //initial condition

+

+//State feedback control law u=-Kx; (from Ex7_15)

+K=[3*w0^2 4*w0];

+//------------------------------------------------------------------

+//Augmented plant and observer

+Faug=[F-G*K, zeros(n,n); L*H, F-L*H];

+Gaug=[0 0 0 0]';

+Haug=[H -H];

+Jaug=0;

+

+sys_aug=syslin('c',Faug,Gaug,Haug,Jaug);

+t=0:0.1:4;

+u=zeros(1,length(t));

+x0=[1 0 0 0]';

+[x z]=csim(u,t,sys_aug,x0); //closed loop response

+plot(t,z(1,:));

+plot(t,z(2,:),'m');

+plot(t,z(3,:),'b:');

+plot(t,z(4,:),'m:');

+

+//Title, labels and grid to the figure

+exec .\fig_settings.sci; // custom script for setting figure properties

+title(['Initial condition response of oscillator showing',...

+'$\mathbf{x}$','and','$\hat{\mathbf{x}}$'],'fontsize',3)

+xlabel('Time t (sec.)','fontsize',2)

+ylabel('Amplitude','fontsize',2)

+legend('$x_1$','$x_2$','$\hat{x}_1$','$\hat{x}_2$')

+xset('font size',2)

+//------------------------------------------------------------------

diff --git a/3432/CH7/EX7.25/Ex7_25_f0.pdf b/3432/CH7/EX7.25/Ex7_25_f0.pdf
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--- /dev/null
+++ b/3432/CH7/EX7.25/Ex7_25_f0.pdf