initial commit / add all books

author: prashantsinalkar 2017-10-10 12:27:19 +0530
committer: prashantsinalkar 2017-10-10 12:27:19 +0530
commit: 7f60ea012dd2524dae921a2a35adbf7ef21f2bb6 (patch)
tree: dbb9e3ddb5fc829e7c5c7e6be99b2c4ba356132c /3432
parent: b1f5c3f8d6671b4331cef1dcebdf63b7a43a3a2b (diff)
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diff --git a/3432/CH2/EX2.1.b/Ex2_1.sce b/3432/CH2/EX2.1.b/Ex2_1.sce
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@@ -0,0 +1,30 @@
+//Example 2.1
+//(b) step response of Cruise control system
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//Cruise control parameters
+m=1000;
+b=50;
+u=500;
+
+// Transfer function
+s=%s; // or 
+s=poly(0,'s');
+sys=syslin('c',(1/m)/(s+b/m))
+
+//step response to u=500;
+t=0:0.5:100;
+v=csim('step',t,u*sys);
+plot2d(t,v,2)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Responses of car velocity to a step in u','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+
+//------------------------------------------------------------------
diff --git a/3432/CH2/EX2.1.b/Ex2_1_f0.pdf b/3432/CH2/EX2.1.b/Ex2_1_f0.pdf
new file mode 100644
index 000000000..d6872294a
--- /dev/null
+++ b/3432/CH2/EX2.1.b/Ex2_1_f0.pdf
diff --git a/3432/CH2/EX2.5.b/Ex2_5.sce b/3432/CH2/EX2.5.b/Ex2_5.sce
new file mode 100644
index 000000000..b4b48e386
--- /dev/null
+++ b/3432/CH2/EX2.5.b/Ex2_5.sce
@@ -0,0 +1,30 @@
+//Example 2.5
+//(b) step response of pendulum
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//Pendulum parameters
+m=0.5;
+l=1;
+g=9.81;
+
+// Transfer function
+s=%s;
+sys=syslin('c',(1/(m*l^2))/(s^2+g/l));
+
+//step response to u=500;
+t=0:0.02:10;
+theta=csim('step',t,sys);
+plot(t,theta*57.3);
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script to set figure properties
+title('Response of pendulum to a step input in the applied torque',...
+'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel('Pendulum angle (degree)','fontsize',2);
+
+//------------------------------------------------------------------
diff --git a/3432/CH2/EX2.5.b/Ex2_5_f0.pdf b/3432/CH2/EX2.5.b/Ex2_5_f0.pdf
new file mode 100644
index 000000000..b396fb554
--- /dev/null
+++ b/3432/CH2/EX2.5.b/Ex2_5_f0.pdf
diff --git a/3432/CH3/EX3.10/Ex3_10.sce b/3432/CH3/EX3.10/Ex3_10.sce
new file mode 100644
index 000000000..e34f28a6f
--- /dev/null
+++ b/3432/CH3/EX3.10/Ex3_10.sce
@@ -0,0 +1,18 @@
+//Example 3.10
+
+//Computing final value for unstable system to show the incorrect 
+// use of final value theorem.
+clear;
+clc;
+//------------------------------------------------------------------
+s=poly(0,'s');
+num=3;
+den=s*(s-2);
+Ys=syslin('c',num/den);
+
+//final value theorem, lim s-->0 in s*Y(s)
+Y_final=horner(s*Ys,0);
+disp(Y_final,"The final value of the output y is:");
+disp('The final value computed is incorrect as the system...
+ response is unbounded');
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.11/Ex3_11.sce b/3432/CH3/EX3.11/Ex3_11.sce
new file mode 100644
index 000000000..a033bf8a2
--- /dev/null
+++ b/3432/CH3/EX3.11/Ex3_11.sce
@@ -0,0 +1,16 @@
+//Example 3.11
+//Computing DC gain of the system.
+
+clear;
+clc;
+//------------------------------------------------------------------
+//Transfer Function
+s=poly(0,'s');
+num=3*(s+2);
+den=(s^2+2*s+10);
+Ys=syslin('c',num/den);
+
+//The DC gain of the system Y(s) as s-->0 is
+DC_Gain=horner(Ys,0)
+disp(DC_Gain,"The DC gain of the system is:")
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.14/Ex3_14.sce b/3432/CH3/EX3.14/Ex3_14.sce
new file mode 100644
index 000000000..c1ab83342
--- /dev/null
+++ b/3432/CH3/EX3.14/Ex3_14.sce
@@ -0,0 +1,23 @@
+//Example 3.14
+//Partial fraction expansion for distinct real roots
+clear;
+clc;
+//------------------------------------------------------------------
+// Transfer function
+s=%s;
+num=2;
+p1=(s+1);
+p2=(s+2);
+p3=(s+4);
+sys=syslin('c',num/(p1*p2*p3))
+
+//Partial fraction expansion is: sys= r1/p1 + r2/p2 + r3/p3
+//residue calculation
+r1=residu(num,p1,(p2*p3))
+r2=residu(num,p2,(p1*p3))
+r3=residu(num,p3,(p1*p2))
+
+disp([r1 r2 r3]',"Residues of the poles p1, p2 and p3 are")
+disp([roots(p1), roots(p2), roots(p3)]',"Poles p1, p2 and p3 are at")
+disp('k=[]')
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.15/Ex3_15.sce b/3432/CH3/EX3.15/Ex3_15.sce
new file mode 100644
index 000000000..ad9513972
--- /dev/null
+++ b/3432/CH3/EX3.15/Ex3_15.sce
@@ -0,0 +1,23 @@
+//Example 3.15 Cruise Control Transfer Function.
+//Coefficients of numerator and denominator of the transfer function
+
+clear;
+clc;
+//------------------------------------------------------------------
+// Transfer function coefficients
+num=[0.001 0];
+den=[0 0.05 1];
+
+// Transfer function
+Ns=poly(num,'s','coeff');
+Ds=poly(den,'s','coeff');
+sys=syslin('c',Ns/Ds);
+
+//gain (K) pole (P) and zeros (Z) of the system
+temp=polfact(Ns);
+Z=roots(Ns); //locations of zeros
+P=roots(Ds); //locations of poles
+K=temp(1); //first entry is always gain
+disp( K,"Gain", P, "Poles",Z,"Zeros",)
+
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.16/Ex3_16.sce b/3432/CH3/EX3.16/Ex3_16.sce
new file mode 100644
index 000000000..84c0062ec
--- /dev/null
+++ b/3432/CH3/EX3.16/Ex3_16.sce
@@ -0,0 +1,32 @@
+//Example 3.16 DC Motor Transfer Function.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Coefficients of numerator and denominator of the transfer function
+numb=[100];
+denb=[0 101 10.1 1];
+
+// Transfer function
+Ns=poly(numb,'s','coeff');
+Ds=poly(denb,'s','coeff');
+sysb=syslin('c',Ns/Ds);
+
+//gain (K) pole (P) and zeros (Z) of the system
+temp=polfact(Ns);
+Z=roots(Ns); //locations of zeros
+P=roots(Ds); //locations of poles
+K=temp(1); //first entry is always gain
+disp( K,"Gain", P, "Poles",Z,"Zeros",)
+
+//Transient response of DC Motor (consider velocity as output)
+s=%s;
+t=linspace(0,5,501);
+y=csim('step',t,sysb*s) 
+plot(t,y)
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Transient response of DC Motor','fontsize',3)
+xlabel('$Time\,\, t(sec.)$','fontsize',3)
+ylabel('$\omega\,\,(rad/sec)$','fontsize',3)
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.16/Ex3_16_f0.pdf b/3432/CH3/EX3.16/Ex3_16_f0.pdf
new file mode 100644
index 000000000..13ab47132
--- /dev/null
+++ b/3432/CH3/EX3.16/Ex3_16_f0.pdf
diff --git a/3432/CH3/EX3.17/Ex3_17.sce b/3432/CH3/EX3.17/Ex3_17.sce
new file mode 100644
index 000000000..fe149dd44
--- /dev/null
+++ b/3432/CH3/EX3.17/Ex3_17.sce
@@ -0,0 +1,21 @@
+//Example 3.17 Transformations
+
+clear;
+clc;
+//-------------------------------------------------------------------
+//Coefficients of numerator and denominator of the transfer function
+numG=[9 3];
+denG=[25 6 1];
+
+// Transfer function
+Ns=poly(numG,'s','coeff');
+Ds=poly(denG,'s','coeff');
+sysG=syslin('c',Ns/Ds);
+
+//gain (K) pole (P) and zeros (Z) of the system
+temp=polfact(Ns);
+Z=roots(Ns); //locations of zeros
+P=roots(Ds); //locations of poles
+K=temp(1); //first entry is always gain
+disp( K,"Gain", P, "Poles",Z,"Zeros",)
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.18/Ex3_18.sce b/3432/CH3/EX3.18/Ex3_18.sce
new file mode 100644
index 000000000..311eb6f9e
--- /dev/null
+++ b/3432/CH3/EX3.18/Ex3_18.sce
@@ -0,0 +1,71 @@
+//Example 3.18 Satellite Transfer Function
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//(a)
+//Given
+d=1 //meters
+I=5000 //Kg-meter^2
+
+//Coefficients of numerator and denominator of the transfer function
+// of satellite
+numG=[d/I 0];
+denG=[0 0 1];
+
+// Transfer function
+Ns=poly(numG,'s','coeff');
+Ds=poly(denG,'s','coeff');
+sysG=syslin('c',Ns/Ds);
+t=0:0.01:10;
+[i j]=size(t);
+
+//------------------------------------------------------------------
+//(b)
+// Thrust input after 5 sec.
+u=zeros(1,j);
+w=find(t>=5 & t<=5+0.1);
+u(w)=25;
+plot(t,u);
+exec .\fig_settings.sci; //custom script for setting figure properties
+title("Transient response of the satellite...
+ (a) Thrust input",'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Fc','fontsize',2)
+
+//Transient response of the satellite to the thrust input as a pulse 
+sysd=dscr(sysG,0.01); //sample data system model
+y=flts(u,sysd);        //impulse response 
+figure, plot(t,y*180/%pi);
+exec .\fig_settings.sci; //custom script for setting figure properties
+title("Transient response of the satellite(double-pulse)...
+ (b) satellite attitude",'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('$\theta(deg)$','fontsize',2)
+//------------------------------------------------------------------
+// Thrust input double-pulse.
+u=zeros(1,j);
+w1=find(t>=5 & t<=5+0.1);
+u(w1)=25;
+w2=find(t>=6.1 & t<=6.1+0.1);
+u(w2)=-25;
+figure,
+plot(t,u);
+exec .\fig_settings.sci; //custom script for setting figure properties
+title("Transient response of the satellite (double-pulse)...
+ (a) Thrust input",'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Fc','fontsize',2)
+
+//Transient response of the satellite to the thrust input as a pulse 
+sysd=dscr(sysG,0.01); //sample data system model
+y=flts(u,sysd);        //impulse response 
+figure, plot(t,y*180/%pi);
+exec .\fig_settings.sci; //custom script for setting figure properties
+title("Transient response of the satellite(double-pulse)...
+ (b) satellite attitude",'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('$\theta(deg)$','fontsize',2)
+
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.18/Ex3_18_f1.pdf b/3432/CH3/EX3.18/Ex3_18_f1.pdf
new file mode 100644
index 000000000..b79b5d1e6
--- /dev/null
+++ b/3432/CH3/EX3.18/Ex3_18_f1.pdf
diff --git a/3432/CH3/EX3.18/Ex3_18_f3.pdf b/3432/CH3/EX3.18/Ex3_18_f3.pdf
new file mode 100644
index 000000000..ef8fa00d4
--- /dev/null
+++ b/3432/CH3/EX3.18/Ex3_18_f3.pdf
diff --git a/3432/CH3/EX3.21/Ex3_21.sce b/3432/CH3/EX3.21/Ex3_21.sce
new file mode 100644
index 000000000..57a2481db
--- /dev/null
+++ b/3432/CH3/EX3.21/Ex3_21.sce
@@ -0,0 +1,42 @@
+//Example 3.21
+//Series, Parallel and Feedback connections of TF blocks 
+//to get effective TF.
+
+clear;
+clc;
+//------------------------------------------------------------------
+//Transfer function block G1
+num1=[2];
+den1=[1];
+Ns=poly(num1,'s','coeff');
+Ds=poly(den1,'s','coeff');
+sysG1=syslin('c',Ns/Ds);
+
+//Transfer function block G2
+num2=[4];
+den2=[0 1];
+Ns=poly(num2,'s','coeff');
+Ds=poly(den2,'s','coeff'); 
+sysG2=syslin('c',Ns/Ds);
+
+//Transfer function block G4
+num4=[1];
+den4=[0 1];
+Ns=poly(num4,'s','coeff');
+Ds=poly(den4,'s','coeff');
+sysG4=syslin('c',Ns/Ds);
+
+//Transfer function block G6
+num6=[1];
+den6=[1];
+Ns=poly(num6,'s','coeff');
+Ds=poly(den6,'s','coeff');
+sysG6=syslin('c',Ns/Ds);
+
+//Effective transfer function
+// (+) operator for paralle connection, 
+// (*) operator for series connection
+// (/.)operator for feedback connection
+sysG=(sysG1 + sysG2) * sysG4 /. sysG6
+disp(sysG, "The effective transfer function is")
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.22/Ex3_22.sce b/3432/CH3/EX3.22/Ex3_22.sce
new file mode 100644
index 000000000..b49701f23
--- /dev/null
+++ b/3432/CH3/EX3.22/Ex3_22.sce
@@ -0,0 +1,47 @@
+//Example 3.22 Response Versus Pole Locations, Real Roots
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Transfer function
+numH=[1 2];
+denH=[2 3 1];
+Ns=poly(numH,'s','coeff');
+Ds=poly(denH,'s','coeff');
+sysH=syslin('c',Ns/Ds);
+
+//Pole-zero locations
+//Partial fraction method to see the effect of sperated poles
+temp=polfact(Ds);
+p1s=temp(2);
+p2s=temp(3);
+
+//residues at poles
+r1=residu(Ns,p1s,p2s);
+r2=residu(Ns,p2s,p1s);
+
+//Note that - H1(s)+H2(s)=H(s)
+H1s=syslin('c',r1/p1s);
+H2s=syslin('c',r2/p2s);
+
+//impulse response of the H1(s), H2(s) and H(s)
+t=0:0.02:10;
+h1=csim('impuls',t,H1s);
+h2=csim('impuls',t,H2s);
+h=csim('impuls',t,sysH);
+figure, 
+plot(t,h1,'r--',t,h2,'m-.', t, h, 'b')
+plot(t,h2,'m-.')
+plot(t,h)
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['impulse response of the system and subsystems with...
+ independent poles.';'(h1(t) is faster than h2(t))'],'fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('h(t), h1(t), h2(t)','fontsize',2)
+h=legend('h1(t) with pole at -2','h2(t) with pole at -1'...
+,'h(t)=h1(t)+h2(t)')
+h.legend_location = "in_upper_right"
+h.fill_mode='off'
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.22/Ex3_22_f0.pdf b/3432/CH3/EX3.22/Ex3_22_f0.pdf
new file mode 100644
index 000000000..52d43ff12
--- /dev/null
+++ b/3432/CH3/EX3.22/Ex3_22_f0.pdf
diff --git a/3432/CH3/EX3.23/Ex3_23.sce b/3432/CH3/EX3.23/Ex3_23.sce
new file mode 100644
index 000000000..613d47c19
--- /dev/null
+++ b/3432/CH3/EX3.23/Ex3_23.sce
@@ -0,0 +1,49 @@
+//Example 3.23 Oscillatory Time Response
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Transfer function of second order underdamped system
+numH=[1 2];
+denH=[5 2 1];
+Ns=poly(numH,'s','coeff');
+Ds=poly(denH,'s','coeff');
+sysH=syslin('c',Ns/Ds);
+
+//damping factor (xi) and natural frequency (wn)
+[wn xi]=damp(sysH);
+wn=wn(1);
+xi=xi(1);
+sigma=xi*wn;
+wd=wn*sqrt(1-xi^2);
+
+//denominator in sigma-wn form H(s)=H1(s)+H2(s)
+s=%s;
+p=(s+sigma)^2+wd^2
+temp=polfact(Ns);
+k=temp(1),zr=temp(2);
+h1=(s+sigma)/p;
+h2=-((s+sigma)-temp(2))*wd/p;
+H1s=syslin('c',k*h1);
+H2s=syslin('c',k*h2/wd);
+
+// responses with exponential envelope
+Env=syslin('c',k/(s+sigma));
+t=0:0.02:10;
+//impulse response
+ht=csim('impuls',t,sysH);
+envt=csim('impuls',t,Env);
+envt_neg=csim('impuls',t,-Env);
+
+plot(t,ht)
+plot(t,envt,'r--')
+plot(t,envt_neg,'r--')
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Impulse response of the underdamped system','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('h(t)','fontsize',2)
+xset("font",1,2)
+xstring(1,0.75,"$e^{-\sigma t}$",0,0)
+xstring(1,-0.85,"$-e^{-\sigma t}$",0,0)
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.23/Ex3_23_f0.pdf b/3432/CH3/EX3.23/Ex3_23_f0.pdf
new file mode 100644
index 000000000..a3886b855
--- /dev/null
+++ b/3432/CH3/EX3.23/Ex3_23_f0.pdf
diff --git a/3432/CH3/EX3.25/Ex3_25.sce b/3432/CH3/EX3.25/Ex3_25.sce
new file mode 100644
index 000000000..337747160
--- /dev/null
+++ b/3432/CH3/EX3.25/Ex3_25.sce
@@ -0,0 +1,52 @@
+//Example 3.25 Aircraft Response
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//(a)impulse response of aircraft
+
+//Transfer function of aircraft
+numG=[-6 1];
+denG=[0 13 4 1];
+Ns=30*poly(numG,'s','coeff');
+Ds=poly(denG,'s','coeff');
+u=-1 //impulsive elevator input of 1 degree
+sysG=syslin('c',u*Ns/Ds);
+
+//impulse response
+t=0:0.02:10;
+gt=csim('impuls',t,sysG);
+plot(t,gt)
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Response of an airplanes altitude to an impulsive elevator input','fontsize',3)
+xlabel('Time (sec.)','fontsize',2)
+ylabel('Altitude (ft)','fontsize',2)
+
+//final value theorem, lim s-->0 in s*G(s)
+s=%s;
+gt_final=horner(s*sysG,0)
+disp(gt_final,"The final value of the output altitude is:")
+//------------------------------------------------------------------
+//(b)response specifications
+
+//damping factor (xi) and natural frequency (wn)
+[wn xi]=damp(sysG);
+wn=wn(2);//natural frequency (wn)
+xi=xi(2);//damping factor
+disp(wn,xi,"Damping factor and natural frequency (rad)...
+ of the response are:")
+
+tr=1.8/wn; //rise time
+disp(tr,"Rise time (sec) of the response is:")
+
+sigma=xi*wn
+ts=4.6/sigma; //settling time
+disp(ts,"Settling time (sec) of the response is:")
+
+Mp=exp(-xi*%pi/sqrt(1-xi^2))
+wd=wn*sqrt(1-xi^2);
+tp=%pi/wd;
+disp(tp, Mp,"Overshoot and time of overshoot (sec)...
+ in the response are:")
+
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.25/Ex3_25_f0.pdf b/3432/CH3/EX3.25/Ex3_25_f0.pdf
new file mode 100644
index 000000000..0ea8ea81d
--- /dev/null
+++ b/3432/CH3/EX3.25/Ex3_25_f0.pdf
diff --git a/3432/CH3/EX3.29/Ex3_29.sce b/3432/CH3/EX3.29/Ex3_29.sce
new file mode 100644
index 000000000..2f1871052
--- /dev/null
+++ b/3432/CH3/EX3.29/Ex3_29.sce
@@ -0,0 +1,40 @@
+//Example 3.29 
+//Stability versus parameter range
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Stability versus parameter range
+
+numT=[-1];//zeros
+denT=[1 0 -6];//poles
+Ns=poly(numT,'s','roots');
+Ds=poly(denT,'s','roots'); 
+Gfs=syslin('c',Ns/Ds); //forward transfer function block
+
+num=[1];
+den=[1 0];
+Ns=poly(num,'s','coeff');
+Ds=poly(den,'s','coeff');
+Hs=syslin('c',Ns/Ds); //feedback transfer function block
+
+//check the step responses with the forward path gain K=7.5, 13, 25
+t=0:0.02:12;
+i=1;
+
+for K=[7.5, 13, 25]
+    sysT= (K * Gfs) /. Hs;
+    yt(i,:)=csim('step',t,sysT);
+    i=i+1;
+end
+//Step response
+plot(t',yt')
+exec .\fig_settings.sci; //custom script for setting figure properties
+title("Transient response for different values of K",'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('y(t)','fontsize',2)
+h=legend('K=7.5','K=13', 'K=25')
+h.legend_location = "in_upper_right"
+h.fill_mode='off'
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.29/Ex3_29_f0.pdf b/3432/CH3/EX3.29/Ex3_29_f0.pdf
new file mode 100644
index 000000000..1dcf45953
--- /dev/null
+++ b/3432/CH3/EX3.29/Ex3_29_f0.pdf
diff --git a/3432/CH3/EX3.30/Ex3_30.sce b/3432/CH3/EX3.30/Ex3_30.sce
new file mode 100644
index 000000000..5a06bc33a
--- /dev/null
+++ b/3432/CH3/EX3.30/Ex3_30.sce
@@ -0,0 +1,46 @@
+//Example 3.30
+//Stability versus two parameter ranges
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Stability versus parameter ranges
+
+num=[1 0];//zeros
+den=[-1 -2];//poles
+Ns=poly(num,'s','coeff');
+Ds=poly(den,'s','roots'); 
+Gfs=syslin('c',Ns/Ds); //forward transfer function block
+
+num=[1];
+den=[1 0];
+Ns=poly(num,'s','coeff');
+Ds=poly(den,'s','coeff');
+Hs=syslin('c',Ns/Ds); //feedback transfer function block
+
+//check the step responses with the forward, path gain K=7.5, 13, 25
+t=0:0.02:12;
+i=1;
+num=[5 10;1 1;0 1];
+
+for i=1:3
+    den=[0 1];
+    Ns=poly(num(i,:),'s','coeff');
+    Ds=poly(den,'s','coeff');
+    Gcs=syslin('c',Ns/Ds); //Controller transfer function block
+    sysT= Gcs * Gfs /. Hs;
+    yt(i,:)=csim('step',t,sysT);
+    i=i+1;
+end
+
+//Transient response for different values of K and Ki
+plot(t',yt')
+exec .\fig_settings.sci; //custom script for setting figure properties
+title("Transient response for the system",'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('y(t)','fontsize',2)
+xset("font",1,1)
+xstring(1.4,1.05,'$K=10,K_I=5$');
+xstring(3.3,0.8,'$K=1,K_I=1$');
+xstring(5.5,0.35,'$K=1,K_I=0$') 
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.30/Ex3_30_f0.pdf b/3432/CH3/EX3.30/Ex3_30_f0.pdf
new file mode 100644
index 000000000..f056d31d9
--- /dev/null
+++ b/3432/CH3/EX3.30/Ex3_30_f0.pdf
diff --git a/3432/CH3/EX3.4/Ex3_4.sce b/3432/CH3/EX3.4/Ex3_4.sce
new file mode 100644
index 000000000..dacf05a5f
--- /dev/null
+++ b/3432/CH3/EX3.4/Ex3_4.sce
@@ -0,0 +1,65 @@
+//Example 3.4
+//Frequency response
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//(a) Frequency response of 1/(s+k)
+k=1;
+fmin=1e-2;
+fmax=1e2;
+// Transfer function
+s=poly(0,'s');
+sysH=syslin('c',1/(s+k))
+
+//Frequency response for k=1 
+//Note that - magnitude plot semilog plot unlike log-log plot in the book.
+bode(sysH,fmin,fmax)
+title('Frequency response for k=1','fontsize',3)
+
+//------------------------------------------------------------------
+//(b) Response to u=sin(10*t);
+t=0:0.02:10;
+u=sin(10*t);
+y=csim(u,t,sysH);
+figure, plot(t,y)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Complete transient response','fontsize',3)
+xlabel('Time (sec.)','fontsize',2)
+ylabel('Output','fontsize',2)
+
+//phase lag
+figure, plot(t,y)
+plot(t,u,'r')
+zoom_rect([9 -1 10 1])
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Phase lag between output and input','fontsize',3)
+xlabel('Time (sec.)','fontsize',2)
+ylabel('Output, Input','fontsize',2)
+h=legend('y(t)','u(t)')
+h.legend_location = "in_upper_right"
+h.fill_mode='off'
+
+// time lag
+w=find(t>=9.4 & t<=10);
+T=t(w);
+Y=y(w);
+U=u(w);
+wu=find(U==max(U))
+wy=find(Y==max(Y))
+
+//Responses
+plot2d3(T(wy),Y(wy))
+plot2d3(T(wu),U(wu))
+delta_t=T(wu)-T(wy); //time lag sec.
+xstring(9.64,-0.1,"$\delta t$",0,0)
+xarrows([9.58;9.72], [0;0], 0.7, 1)
+xarrows([9.72;9.58], [0;0], 0.7, 1)
+t=get("hdl") 
+disp(abs(delta_t), "Time lag of output in sec. is")
+disp(abs(delta_t)*10, "Phase lag of output in radians is")
+
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.4/Ex3_4_f0.pdf b/3432/CH3/EX3.4/Ex3_4_f0.pdf
new file mode 100644
index 000000000..8910b81c6
--- /dev/null
+++ b/3432/CH3/EX3.4/Ex3_4_f0.pdf
diff --git a/3432/CH3/EX3.4/Ex3_4_f1.pdf b/3432/CH3/EX3.4/Ex3_4_f1.pdf
new file mode 100644
index 000000000..1a5b20a54
--- /dev/null
+++ b/3432/CH3/EX3.4/Ex3_4_f1.pdf
diff --git a/3432/CH3/EX3.8/Ex3_8.sce b/3432/CH3/EX3.8/Ex3_8.sce
new file mode 100644
index 000000000..d0fe5567f
--- /dev/null
+++ b/3432/CH3/EX3.8/Ex3_8.sce
@@ -0,0 +1,26 @@
+//Example 3.8
+//Partial fraction expansion for distinct real roots.
+
+clear;
+clc;
+//------------------------------------------------------------------
+//Partial fraction expansion for distinct real roots
+// Transfer function
+s=%s;
+num=(s+2)*(s+4)
+p1=s;
+p2=(s+1);
+p3=(s+3);
+sys=syslin('c',num/(p1*p2*p3))
+//------------------------------------------------------------------
+//Partial fraction expansion is: sys= r1/p1 + r2/p2 + r3/p3
+//residue calculation
+r1=residu(num,p1,(p2*p3))
+r2=residu(num,p2,(p1*p3))
+r3=residu(num,p3,(p1*p2))
+
+disp([r1 r2 r3]',"Residues of the poles p1, p2 and p3 are")
+disp([roots(p1), roots(p2), roots(p3)]',"Poles p1, p2 and p3 are at")
+disp('k=[]')
+
+//------------------------------------------------------------------
diff --git a/3432/CH3/EX3.9/Ex3_9.sce b/3432/CH3/EX3.9/Ex3_9.sce
new file mode 100644
index 000000000..b061c050c
--- /dev/null
+++ b/3432/CH3/EX3.9/Ex3_9.sce
@@ -0,0 +1,22 @@
+//Example 3.9
+//Computing final value (use of final value theorem).
+
+clear;
+clc;
+
+//------------------------------------------------------------------
+
+//Computing final value (use of final value theorem)
+// Output of the system
+s=poly(0,'s');
+num=3*(s+2);
+den=s*(s^2+2*s+10);
+Ys=syslin('c',num/den);
+
+
+//final value theorem, lim s-->0 in s*Y(s)
+
+Y_final=horner(s*Ys,0)
+disp(Y_final,"The final value of the output y is:")
+
+//------------------------------------------------------------------
diff --git a/3432/CH4/EX4.6/Ex4_6.sce b/3432/CH4/EX4.6/Ex4_6.sce
new file mode 100644
index 000000000..e621d8a2d
--- /dev/null
+++ b/3432/CH4/EX4.6/Ex4_6.sce
@@ -0,0 +1,97 @@
+//Example 4.6 
+//PID Control of DC Motor Speed.
+
+//------------------------------------------------------------------
+//NOTE THAT--
+
+//The model as given in matlab program for this example in the book is
+
+//num=Ra*s + La*s^2 ;
+//den=Ke*ki + (Ra*Ke*Ke+Ke*kp)*s + (Ra*b+Ke*Ke+Ke*kd)*s^2 + Jm*La*s^3;
+
+//this does not match to the model of DC motor given on page 43. 
+//Also, if we assume this model, disturbance response given 
+//in figure 4.13 (a) 
+//is different from expected.
+//For instance, with P control, output should asymptotically go to 0
+//for disturbance step input, because numerator is s(Ra + La*s) 
+//and system is type 0 (no pole at origin).
+//i.e. y(inf)=lim s->0 s*Y(s)= s*[s(Ra + La*s)/den]*1/s=0;
+
+//In following code, we have considered correct model of DC motor as 
+//given on page 43. Note that, this model must have been used 
+//by authors of the book for 
+//step reference tracking as it is correctly shown in figure 4.13 (b)
+
+//------------------------------------------------------------------
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+// System parameters
+Jm=0.0113; // N-m-s^2/rad
+b=0.028;   // N-m-s/rad
+La=0.1;    // henry
+Ra=0.45;   // ohms
+Kt=0.067   // n-m/amp
+Ke=0.067;  // V-sec/amp
+
+// Controller parameters
+kp=3;
+ki=15;    // sec^-1
+kd=0.3;   // sec
+
+// DC Motor Transfer function as given on page 43 of book (edition 5)
+//G=Kt/[Jm*La s^2 + (Jm*Ra + La*b)s +(Ra*b +Kt*Ke)]
+s=%s;
+num=[Kt];
+den=[(Ra*b +Kt*Ke) (Jm*Ra + La*b) Jm*La];
+Ns=poly(num,'s','coeff');
+Ds=poly(den,'s','coeff');
+G=syslin('c',Ns/Ds)
+
+//PID controller, Gc=(kd s^2 + kp s + ki)/s
+num=[ki kp kd;ki kp 0;0 kp 0]; //numerator parameters of controller)
+                                 //(row wise for PID, PI and P)
+den=[0 1];                    //denominator parameters of controller
+Ds=poly(den,'s','coeff');    //denominator polynomial of controller
+t=0:0.005:10;               // Simulation time
+//------------------------------------------------------------------
+//Step disturbance response with P, PI and PID controller. 
+
+for i=1:3
+Ns=poly(num(i,:),'s','coeff');//numerator polynomial of controller
+sysG=syslin('c',Ns/Ds);
+sysD=G/. sysG;
+v(i,:)=csim('step',t,sysD);
+end
+plot(t',v');
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script to set the figure properties
+title('Responses of P,PI and PID control to step disturbance...
+ input','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+hl=legend(['PID','PI','P']);
+
+//------------------------------------------------------------------
+//Reference step response
+
+figure
+for i=1:3
+Ns=poly(num(i,:),'s','coeff');
+Gc=syslin('c',Ns/Ds);
+// Step reference response with P, PI and PID controller.
+sysR=G*Gc/(1+G*Gc);
+v(i,:)=csim('step',t,sysR);
+end
+plot(t',v')
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script to set the figure properties
+title('Responses of PID control to step reference input','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+hl=legend(['PID','PI','P']);
+
+//------------------------------------------------------------------
diff --git a/3432/CH4/EX4.6/Ex4_6_f0.pdf b/3432/CH4/EX4.6/Ex4_6_f0.pdf
new file mode 100644
index 000000000..9a65a241f
--- /dev/null
+++ b/3432/CH4/EX4.6/Ex4_6_f0.pdf
diff --git a/3432/CH4/EX4.6/Ex4_6_f1.pdf b/3432/CH4/EX4.6/Ex4_6_f1.pdf
new file mode 100644
index 000000000..4aff13b10
--- /dev/null
+++ b/3432/CH4/EX4.6/Ex4_6_f1.pdf
diff --git a/3432/CH4/EX4.7/Ex4_7.sce b/3432/CH4/EX4.7/Ex4_7.sce
new file mode 100644
index 000000000..923a951e6
--- /dev/null
+++ b/3432/CH4/EX4.7/Ex4_7.sce
@@ -0,0 +1,26 @@
+//Example 4.7
+//Discrete Equivalent.
+//------------------------------------------------------------------
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+// Transfer function
+s=%s; 
+num=[1 11];
+den=[1 3]
+Us=poly(num,'s','coeff');
+Es=poly(den,'s','coeff');
+Ds=syslin('c',Us/Es);
+sysc=tf2ss(Ds)
+
+//Discretize the system using sampling time Ts=1 and Bilinear Transform
+Ts=1;
+sysd=cls2dls(sysc,Ts);
+
+//Pulse transfer function
+Dd=ss2tf(sysd)
+disp(Dd,"Dd=")
+disp("Note that, multiply numerator and denomintor each by 7... 
+ will give the result as in book.")
+//------------------------------------------------------------------
diff --git a/3432/CH4/EX4.8/Ex4_8.sce b/3432/CH4/EX4.8/Ex4_8.sce
new file mode 100644
index 000000000..5f5e37109
--- /dev/null
+++ b/3432/CH4/EX4.8/Ex4_8.sce
@@ -0,0 +1,150 @@
+//Example 4.8
+//Equivalent discrete controller for DC motor speed control.
+//------------------------------------------------------------------
+//NOTE THAT-- The system response (continuous) to sampled control 
+//input depends on 
+//the sampling time set for continuous signal in SIMULATION.
+//In this example we consider sampling period of 0.009 sec 
+//to represent continuous time signal.
+//------------------------------------------------------------------
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// Continuous time system and controller
+// System transfer function
+s=%s; 
+num=[45 0];
+den=[45 14 1]
+Nms=poly(num,'s','coeff');
+Dns=poly(den,'s','coeff');
+Gp=syslin('c',Nms/Dns); //system transfer function
+
+// Controller
+
+numDa=[6 1];
+denDa=[0 1]
+Nms=poly(numDa,'s','coeff');
+Dns=poly(denDa,'s','coeff');
+sysD=syslin('c',1.4*Nms/Dns); //controller transfer function
+
+//Closed loop responses
+
+num=[1 0];
+den=[1 0];
+Nms=poly(num,'s','coeff');
+Dns=poly(den,'s','coeff');
+H=syslin('c',Nms/Dns)
+
+sysDa=Gp*sysD/.H;
+
+//step response and control input
+t=0:0.009:5;
+yt=csim('step',t,sysDa); //step response
+figure(0)
+plot2d(t,yt,1)
+Gu=sysD/(1+Gp*sysD);
+ut=csim('step',t,Gu); //control input
+figure(1)
+plot2d(t,ut,1)
+//------------------------------------------------------------------
+
+sys=tf2ss(Gp); //state space model of the system
+con=tf2ss(sysD); //controller state space model
+
+// discrete-time time system and controller
+
+//Discretize the system and control with sampling time Ts=0.07
+// using Bilinear Transform
+Ts=0.07;
+sysDd=cls2dls(sys,Ts); // discrete-time system state space model
+conDd=cls2dls(con,Ts); // discrete-time controller state space model
+
+//Pulse transfer function of system
+Gpz=ss2tf(sysDd);
+//Pulse transfer function of controller
+Gcz=ss2tf(conDd);
+//Closed loop response
+Gz=Gpz*Gcz/(1+Gpz*Gcz)
+//Control input pulse transfer function
+Guz=Gcz/(1+Gpz*Gcz)
+T=0:Ts:5;
+r=ones(1,length(T));
+yd=flts(r,Gz);............//Discrete respnse to discrete input
+ud=flts(r,Guz);           //Discrete Control input
+//continuous response for digital input
+t=0:0.009:5;
+k=0;
+
+for i=1:length(yd)
+    for j=1:8
+       if (k+j)>length(t) then
+          break
+          else
+          YD(1,k+j)=yd(i);
+       end
+       end
+    k=k+j;
+end
+
+yt=csim(1-YD,t,Gp*sysD);
+scf(0)
+plot2d(t,yt,5);
+scf(1)
+plot2d2(T,ud,5);
+//------------------------------------------------------------------
+//Discretize the system and control with sampling time Ts=0.035
+// using Bilinear Transform
+Ts=0.035;
+sysDd=cls2dls(sys,Ts); // discrete-time system state space model
+conDd=cls2dls(con,Ts); // discrete-time controller state space model
+
+Gpz=ss2tf(sysDd);      //Pulse transfer function of system
+Gcz=ss2tf(conDd);     //Pulse transfer function of controller
+
+//Closed loop response
+Gz=Gpz*Gcz/(1+Gpz*Gcz)
+//Control input pulse transfer function
+Guz=Gcz/(1+Gpz*Gcz)
+T=0:Ts:5;
+r=ones(1,length(T));
+yd=flts(r,Gz);............//Discrete respnse to discrete input
+ud=flts(r,Guz);           //Discrete Control input
+t=0:0.009:5;
+k=0;
+
+for i=1:length(yd)
+    for j=1:4
+       if (k+j)>length(t) then
+          break
+          else
+          YD(1,k+j)=yd(i);
+       end
+       end
+    k=k+j;
+end
+
+yt=csim(1-YD,t,Gp*sysD);
+scf(0)
+plot2d(t,yt,2);
+scf(1)
+plot2d2(T,ud,2);
+
+scf(0)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script to set the figure properties
+title('Comparision plots of Speed-control system with continuous...
+ and discrete controllers','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+hl=legend(['Continuous time','Discrete-time, Ts=0.07 s'...
+,'Discrete-time, Ts=0.035 s'],4);
+scf(1)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script to set the figure properties
+title('Comparision plots of Speed-control system with continuous...
+ and discrete controllers','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+hl=legend(['Continuous time','Discrete-time, Ts=0.07 s',...
+'Discrete-time, Ts=0.035 s']);
+//------------------------------------------------------------------
diff --git a/3432/CH4/EX4.8/Ex4_8_f0.pdf b/3432/CH4/EX4.8/Ex4_8_f0.pdf
new file mode 100644
index 000000000..dbe4cf6bd
--- /dev/null
+++ b/3432/CH4/EX4.8/Ex4_8_f0.pdf
diff --git a/3432/CH4/EX4.8/Ex4_8_f1.pdf b/3432/CH4/EX4.8/Ex4_8_f1.pdf
new file mode 100644
index 000000000..63a7f87d4
--- /dev/null
+++ b/3432/CH4/EX4.8/Ex4_8_f1.pdf
diff --git a/3432/CH5/EX5.1/Ex5_1.sce b/3432/CH5/EX5.1/Ex5_1.sce
new file mode 100644
index 000000000..ae71ca2e4
--- /dev/null
+++ b/3432/CH5/EX5.1/Ex5_1.sce
@@ -0,0 +1,26 @@
+//Example 5.1
+//Root locus of a Motor Position Control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+Ls=1/(s*(s+1));
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+evans(Ls)
+title(['Root locus for', '$L(s)=1/[s(s+1)]$'],'fontsize',3)
+zoom_rect([-2 -1.5 2 1.5])
+sgrid([0.5],1,5)
+xset("font",1,1.5) 
+xstring(-1.2,1.1,'$\theta=sin^{-1} \xi$",0,0)
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/3432/CH5/EX5.1/Ex5_1_f0.pdf b/3432/CH5/EX5.1/Ex5_1_f0.pdf
new file mode 100644
index 000000000..0ff03c9ed
--- /dev/null
+++ b/3432/CH5/EX5.1/Ex5_1_f0.pdf
diff --git a/3432/CH5/EX5.10/Ex5_10.sce b/3432/CH5/EX5.10/Ex5_10.sce
new file mode 100644
index 000000000..ed860c1d3
--- /dev/null
+++ b/3432/CH5/EX5.10/Ex5_10.sce
@@ -0,0 +1,56 @@
+//Example 5.10
+//Design using Lead compensator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+
+NumG=1;
+DenG=s*(s+1);
+NumD=(s+2);
+DenD=(s+10);
+
+G=NumG/DenG;
+D=NumD/DenD;
+
+L=G*D; //open loop transfer function
+
+figure(0)
+evans(L)
+sgrid(0.5,7,6);
+
+xstring(-2,4,"Damping=0.5",0,0)
+xstring(-7,4,"w=7",0,0)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for lead design','fontsize',3)
+zoom_rect([-14 -8 4 8])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+// Unit step response
+//closed loop system
+K=70;
+sysc=K*L/(1+K*L);
+sysc=syslin('c',sysc);
+t=linspace(0,10,1000);
+y=csim('step',t,sysc);
+figure(1)
+plot(t,y);
+title('Step response for the system with lead compensator','fontsize',3)
+xlabel('Time (sec)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+set(gca(),"grid",[0.3 0.3])
+zoom_rect([0 0 1.8 1.4])
+exec .\fig_settings.sci;
+
+scf(0)
+pl=roots(DenG*DenD+K*NumG*NumD)     //closed loop poles at K=70;
+plot(real(pl),imag(pl),'ro')       //closed loop pole-locations at K=70;
+xstring(-5.8,6,"K=70",0,0)
+//------------------------------------------------------------------
+
diff --git a/3432/CH5/EX5.10/Ex5_10_f0.pdf b/3432/CH5/EX5.10/Ex5_10_f0.pdf
new file mode 100644
index 000000000..35fbc649b
--- /dev/null
+++ b/3432/CH5/EX5.10/Ex5_10_f0.pdf
diff --git a/3432/CH5/EX5.10/Ex5_10_f1.pdf b/3432/CH5/EX5.10/Ex5_10_f1.pdf
new file mode 100644
index 000000000..8ce55517b
--- /dev/null
+++ b/3432/CH5/EX5.10/Ex5_10_f1.pdf
diff --git a/3432/CH5/EX5.11/Ex5_11.sce b/3432/CH5/EX5.11/Ex5_11.sce
new file mode 100644
index 000000000..ca9925b0d
--- /dev/null
+++ b/3432/CH5/EX5.11/Ex5_11.sce
@@ -0,0 +1,78 @@
+//Example 5.11
+//A second  Lead compensation Design. 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+
+NumG=1;
+DenG=s*(s+1);
+NumD=(s+5.4);
+DenD=(s+20);
+
+Gs=NumG/DenG;
+Ds=NumD/DenD;
+
+Ls=Gs*Ds;   //open loop transfer function
+
+zr=roots(NumD*NumG); //open loop system zeros
+pl=roots(DenD*DenG); //open loop system poles
+pd=-3.5+3.5*sqrt(3)*%i; //desired pole
+
+//Construction for placing a specific point on the root locus.
+figure(0)
+plzr(Ls)
+plot(real(pd),imag(pd),'ro')
+xarrows([real(pl(1));real(pd)],[imag(pl(1));imag(pd)],0,2)
+xarrows([real(pl(2));real(pd)],[imag(pl(2));imag(pd)],0,2)
+xarrows([real(pl(3));real(pd)],[imag(pl(3));imag(pd)],0,2)
+xarrows([real(zr);real(pd)],[imag(zr);imag(pd)],0,6)
+xarrows([real(zr);-3],[0;0],0,6)
+xarc(-6.4,1,2,2,0,72.6*64)
+xset('font size',1.5);
+xstring(-4.7,0.5,"$\psi$")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Construction for placing a specific point on the root locus',...
+'fontsize',3)
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+//Root locus of system transfer function with controller
+figure(1)
+evans(Ls)
+sgrid(0.5,7,6)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Root locus for','$ L(s)=\frac {s+5.4}{s(s+1)(s+20)}$'],...
+'fontsize',3)
+zoom_rect([-20 -8 5 8])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+// Unit step response
+//closed loop system
+
+K=127;  // from root locus gain  is computed 
+sysc=K*Ls/(1+K*Ls)
+sysc=syslin('c',sysc);
+t=linspace(0,10,1000);
+y=csim('step',t,sysc);
+figure(2)
+plot(t,y);
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Step response for K=127', 'and',...
+'$ L(s)=\frac {s+5.4}{s(s+1)(s+20)}$']...
+,'fontsize',3)
+xlabel('Time (sec)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+zoom_rect([0 0 1.8 1.4])
+
+pl=roots(DenG*DenD+K*NumG*NumD) //closed loop poles at K=127;
+scf(1)
+plot(real(pl),imag(pl),'ro') //closed loop pole-locations at K=127;
+//------------------------------------------------------------------
+
diff --git a/3432/CH5/EX5.11/Ex5_11_f1.pdf b/3432/CH5/EX5.11/Ex5_11_f1.pdf
new file mode 100644
index 000000000..bc4787a5a
--- /dev/null
+++ b/3432/CH5/EX5.11/Ex5_11_f1.pdf
diff --git a/3432/CH5/EX5.11/Ex5_11_f2.pdf b/3432/CH5/EX5.11/Ex5_11_f2.pdf
new file mode 100644
index 000000000..0c849448b
--- /dev/null
+++ b/3432/CH5/EX5.11/Ex5_11_f2.pdf
diff --git a/3432/CH5/EX5.12/Ex5_12.sce b/3432/CH5/EX5.12/Ex5_12.sce
new file mode 100644
index 000000000..fdff14884
--- /dev/null
+++ b/3432/CH5/EX5.12/Ex5_12.sce
@@ -0,0 +1,24 @@
+//Example 5.12
+//Negative root Locus for an Airplane.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+Ls=-(s-6)/(s*(s^2+4*s+13));
+evans(Ls)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Negative root locus for','$L(s)=\frac{s-6}{s(s^2+4s+13)}$'],...
+'fontsize',3)
+zoom_rect([-5 -6 10 6])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/3432/CH5/EX5.12/Ex5_12_f0.pdf b/3432/CH5/EX5.12/Ex5_12_f0.pdf
new file mode 100644
index 000000000..2dee94767
--- /dev/null
+++ b/3432/CH5/EX5.12/Ex5_12_f0.pdf
diff --git a/3432/CH5/EX5.2/Ex5_2.sce b/3432/CH5/EX5.2/Ex5_2.sce
new file mode 100644
index 000000000..74f73049d
--- /dev/null
+++ b/3432/CH5/EX5.2/Ex5_2.sce
@@ -0,0 +1,22 @@
+//Example 5.2
+//Root locus with respect to a plant open loop pole.
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+s=poly(0,'s');
+Gs=s/(s*s+1);
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+evans(Gs,100)
+title(['Root locus vs. damping factor','$c$',...
+'for','$1+G(s)=1+1/[s(s+c)]=0$'],'fontsize',3)
+zoom_rect([-2 -1.5 2 1.5])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
+
diff --git a/3432/CH5/EX5.2/Ex5_2_f0.pdf b/3432/CH5/EX5.2/Ex5_2_f0.pdf
new file mode 100644
index 000000000..e1e4da3cb
--- /dev/null
+++ b/3432/CH5/EX5.2/Ex5_2_f0.pdf
diff --git a/3432/CH5/EX5.3/Ex5_3.sce b/3432/CH5/EX5.3/Ex5_3.sce
new file mode 100644
index 000000000..95d400cc2
--- /dev/null
+++ b/3432/CH5/EX5.3/Ex5_3.sce
@@ -0,0 +1,22 @@
+//Example 5.3
+//Root locus for satellite attitude control with PD control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+sysS=(s+1)/(s^2);
+evans(sysS,100)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for','$L(s)=G(s)=(s+1)/s^2$'],'fontsize',3)
+zoom_rect([-6 -3 2 3])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/3432/CH5/EX5.3/Ex5_3_f0.pdf b/3432/CH5/EX5.3/Ex5_3_f0.pdf
new file mode 100644
index 000000000..3f4f9cdb7
--- /dev/null
+++ b/3432/CH5/EX5.3/Ex5_3_f0.pdf
diff --git a/3432/CH5/EX5.4/Ex5_4.sce b/3432/CH5/EX5.4/Ex5_4.sce
new file mode 100644
index 000000000..2a17aed83
--- /dev/null
+++ b/3432/CH5/EX5.4/Ex5_4.sce
@@ -0,0 +1,23 @@
+//Example 5.4
+//Root locus for satellite attitude control with modified 
+//PD control or Lead compensator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+sysL=(s+1)/(s^2*(s+12));
+evans(sysL,100)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for', '$L(s)=(s+1)/s^2(s+12)$'],'fontsize',3)
+zoom_rect([-6 -3 2 3])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/3432/CH5/EX5.4/Ex5_4_f0.pdf b/3432/CH5/EX5.4/Ex5_4_f0.pdf
new file mode 100644
index 000000000..d81a20eb1
--- /dev/null
+++ b/3432/CH5/EX5.4/Ex5_4_f0.pdf
diff --git a/3432/CH5/EX5.5/Ex5_5.sce b/3432/CH5/EX5.5/Ex5_5.sce
new file mode 100644
index 000000000..2773f40d9
--- /dev/null
+++ b/3432/CH5/EX5.5/Ex5_5.sce
@@ -0,0 +1,22 @@
+//Example 5.5
+//Root locus for satellite control with Lead compensator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+sysL=(s+1)/(s^2*(s+4));
+evans(sysL)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for', '$L(s)=(s+1)/s^2(s+4)$'],'fontsize',3)
+zoom_rect([-6 -3 2 3])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/3432/CH5/EX5.5/Ex5_5_f0.pdf b/3432/CH5/EX5.5/Ex5_5_f0.pdf
new file mode 100644
index 000000000..abef9d50a
--- /dev/null
+++ b/3432/CH5/EX5.5/Ex5_5_f0.pdf
diff --git a/3432/CH5/EX5.6/Ex5_6.sce b/3432/CH5/EX5.6/Ex5_6.sce
new file mode 100644
index 000000000..a2573d6e7
--- /dev/null
+++ b/3432/CH5/EX5.6/Ex5_6.sce
@@ -0,0 +1,23 @@
+//Example 5.6
+//Root locus for satellite attitude control with a 
+//Transition value for the pole.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+sysL=(s+1)/(s^2*(s+9));
+evans(sysL)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for', '$L(s)=(s+1)/(s^2(s+9))$'],'fontsize',3)
+zoom_rect([-6 -3 2 3])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/3432/CH5/EX5.6/Ex5_6_f0.pdf b/3432/CH5/EX5.6/Ex5_6_f0.pdf
new file mode 100644
index 000000000..9fc7e6451
--- /dev/null
+++ b/3432/CH5/EX5.6/Ex5_6_f0.pdf
diff --git a/3432/CH5/EX5.7/Ex5_7.sce b/3432/CH5/EX5.7/Ex5_7.sce
new file mode 100644
index 000000000..756952ff6
--- /dev/null
+++ b/3432/CH5/EX5.7/Ex5_7.sce
@@ -0,0 +1,116 @@
+//Example 5.7
+//Root locus for satellite control with a Collocated Flexibility. 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function with controller.
+
+s=poly(0,'s');
+NumD=(s+1);
+DenD=(s+12);
+D=NumD/DenD;
+
+NumG=(s+0.1)^2+36
+DenG=s^2*((s+0.1)^2+(6.6)^2)
+
+G=NumG/DenG;
+
+NumL=NumD*NumG;
+DenL=DenD*DenG;
+
+L=NumL/DenL;
+
+zr=roots(NumL);
+pl=roots(DenL);
+
+//------------------------------------------------------------------
+//Angle of departure.
+//Find angle of departure from pole at phi1= - 0.1 + 6.6i
+//(real poles don't have angle of departure,
+//they move along real axis only) 
+//psi1=angle[(Departing pole)- (zero at - 0.1 + 6.6i)]
+[Mpsi1, psi1] = polar(pl(2)-zr(1))
+psi1=real(psi1)*180/%pi;           //angle in degree
+
+//psi2=angle[(Departing pole)- (zero at - 0.1 - 6.6i)]
+[Mpsi2, psi2] = polar(pl(2)-zr(2)) 
+psi2=real(psi2)*180/%pi;           //angle in degree
+
+//psi3=angle[(Departing pole)- (zero at - 1)]
+[Mpsi3, psi3] = polar(pl(2)-zr(3)) 
+psi3=real(psi3)*180/%pi;           //angle in degree
+
+//phi2=angle[(Departing pole)- (pole at 0)]
+[Mphi2, phi2] = polar(pl(2)-pl(4)) 
+phi2=real(phi2)*180/%pi;           //angle in degree
+
+//phi3 is same as phi2, as pole is repeated at 0.
+phi3=phi2;                         
+
+//phi4=angle[(Departing pole)-(pole at - 0.1 - 6.6i )]
+[Mphi4, phi4] = polar(pl(2)-pl(3)) 
+phi4=real(phi4)*180/%pi;           //angle in degree
+
+//phi5=angle[(Departing pole)- (pole at - 12 )]
+[Mphi5, phi5] = polar(pl(2)-pl(1))
+phi5=real(phi5)*180/%pi;           //angle in degree
+
+//Therefore angle of departure phi1 at - 0.1 + 6.6i is
+//phi1 = 180 + sum(angle to zeros) - sum(angle to poles)
+
+phi1 = 180 + sum(psi1+psi2+psi3) - sum(phi2+phi3+phi4+phi5)
+
+//angle contributions in figure 
+figure(0)
+plzr(L)
+xset('font size',1.5)
+xarrows([real(pl(1));real(pl(2))],[imag(pl(1));imag(pl(2))],0,2)
+xarc(-13,1,2,2,0,phi5*64)
+xstring(-11,0.05,"$\phi_5$")
+
+
+xarrows([real(zr(3));real(pl(2))],[imag(zr(3));imag(pl(2))],0,4)
+xarc(-2,1,2,2,0,psi3*64)
+xstring(-0.7,1,"$\psi_3$")
+
+xarrows([real(pl(4));real(pl(2))],[imag(pl(4));imag(pl(2))],0,5)
+xarc(-1,1,2,2,0,phi2*64)
+xstring(0.8,0.5,"$\phi_2,\,\phi_3$")
+
+
+xarrows([real(pl(3));real(pl(2))],[imag(pl(3));imag(pl(2))],0,3)
+xarc(-1,-6.6,2,2,0,phi4*64)
+xstring(0.8,-7,"$\phi_4$")
+
+xarrows([real(zr(2));real(pl(2))],[imag(zr(2));imag(pl(2))],0,6)
+xarc(-1,-5,2,2,0,psi2*64)
+xstring(0.8,-5.5,"$\psi_2$")
+
+xarrows([real(zr(1));real(pl(2))],[imag(zr(1));imag(pl(2))],0,24)
+xstring(0.3,5.5,"$\psi_1$")
+xstring(0.3,6.5,"$\phi_1$")
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Figure for computing a departure angle for',...
+'$L(s)=\frac{s+1}{s+12}\frac{(s+0.1)^2+6^2}{s^2[(s+0.1)^2+6.6^2]}$'],...
+'fontsize',3)
+zoom_rect([-15 -8 5 8])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
+//Root locus system transfer function with controller.
+figure(1)
+evans(L)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Root locus for','$L(s)=\frac{s+1}{s+12}\frac{(s+0.1)^2+6^2}...
+{s^2[(s+0.1)^2+6.6^2]}$'],'fontsize',3)
+zoom_rect([-15 -8 5 8])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/3432/CH5/EX5.7/Ex5_7_f0.pdf b/3432/CH5/EX5.7/Ex5_7_f0.pdf
new file mode 100644
index 000000000..a336a6931
--- /dev/null
+++ b/3432/CH5/EX5.7/Ex5_7_f0.pdf
diff --git a/3432/CH5/EX5.7/Ex5_7_f1.pdf b/3432/CH5/EX5.7/Ex5_7_f1.pdf
new file mode 100644
index 000000000..9bbc5ea37
--- /dev/null
+++ b/3432/CH5/EX5.7/Ex5_7_f1.pdf
diff --git a/3432/CH5/EX5.8/Ex5_8.sce b/3432/CH5/EX5.8/Ex5_8.sce
new file mode 100644
index 000000000..9df35f11c
--- /dev/null
+++ b/3432/CH5/EX5.8/Ex5_8.sce
@@ -0,0 +1,105 @@
+//Example 5.8
+//Root locus for noncollocated case.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function with controller 
+
+s=poly(0,'s');
+NumD=(s+1);
+DenD=(s+12);
+sysD=NumD/DenD;
+
+NumG=1
+DenG=s^2*((s+0.1)^2+(6.6)^2)
+
+sysG=NumG/DenG;
+
+NumL=NumD*NumG;
+DenL=DenD*DenG;
+
+sysL=NumL/DenL;
+
+zr=roots(NumL);
+pl=roots(DenL);
+
+//------------------------------------------------------------------
+//Angle of departure.
+//Find angle of departure from pole at phi1= - 0.1 + 6.6i
+//(real poles don't have angle of departure,
+//they move along real axis only) 
+
+//psi1=angle[(Departing pole)- (zero at - 1]
+[Mpsi1, psi1] = polar(pl(2)-zr(1)) 
+psi1=real(psi1)*180/%pi;           //angle in degree
+
+//phi2=angle[(Departing pole)- (pole at 0)]
+[Mphi2, phi2] = polar(pl(2)-pl(4)) 
+phi2=real(phi2)*180/%pi;           //angle in degree
+
+//phi3 is same as phi2, as pole is repeated at 0.
+phi3=phi2;                         
+
+//phi4=angle[(Departing pole)-(pole at - 0.1 - 6.6i )]
+[Mphi4, phi4] = polar(pl(2)-pl(3)) 
+phi4=real(phi4)*180/%pi;           //angle in degree
+
+//phi5=angle[(Departing pole)- (pole at - 12 )]
+[Mphi5, phi5] = polar(pl(2)-pl(1)) 
+phi5=real(phi5)*180/%pi;           //angle in degree
+
+//Therefore angle of departure phi1 at - 0.1 + 6.6i is
+//phi1 = 180 + sum(angle to zeros) - sum(angle to poles)
+
+phi1 = 180 + sum(psi1) - sum(phi2+phi3+phi4+phi5)
+
+//angle contributions in figure 
+figure(0)
+plzr(sysL)
+xset('font size',1.5)
+xarrows([real(pl(1));real(pl(2))],[imag(pl(1));imag(pl(2))],0,2)
+xarrows([real(pl(1)); -10],[0;0],0,2)
+xarc(-13,1,2,2,0,phi5*64)
+xstring(-11,0.05,"$\phi_5$")
+
+xarrows([real(zr(1));real(pl(2))],[imag(zr(1));imag(pl(2))],0,6)
+xarrows([real(zr(1)); -0.3],[0;0],0,6)
+xarc(-2,1,2,2,0,psi1*64)
+xstring(-0.7,1,"$\psi_1$")
+
+xarrows([real(pl(4));real(pl(2))],[imag(pl(4));imag(pl(2))],0,5)
+xarrows([real(pl(4)); 1],[0;0],0,5)
+xarc(-1,1,2,2,0,phi2*64)
+xstring(0.8,0.5,"$\phi_2,\,\phi_3$")
+
+xarrows([real(pl(3));real(pl(2))],[imag(pl(3));imag(pl(2))],0,17)
+xarrows([real(pl(3)); 2],[imag(pl(3));imag(pl(3))],0,17)
+xarc(-1.1,-5.6,2,2,0,phi4*64)
+xstring(0.8,-5.5,"$\phi_4$")
+
+xstring(0.3,6.5,"$\phi_1$")
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Figure to compute a departure angle for',...
+'$L(s)=\frac{s+1}{s+12}\frac{1}{s^2[(s+0.1)^2+6.6^2]}$'],...
+'fontsize',3)
+zoom_rect([-15 -8 5 8])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
+//Root locus of system transfer function with controller
+figure(1)
+evans(sysL)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Root locus for','$L(s)=\frac{s+1}{s+12}\frac{1}...
+{s^2[(s+0.1)^2+6.6^2]}$'],'fontsize',3)
+zoom_rect([-15 -8 5 8])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/3432/CH5/EX5.8/Ex5_8_f0.pdf b/3432/CH5/EX5.8/Ex5_8_f0.pdf
new file mode 100644
index 000000000..c6c995945
--- /dev/null
+++ b/3432/CH5/EX5.8/Ex5_8_f0.pdf
diff --git a/3432/CH5/EX5.8/Ex5_8_f1.pdf b/3432/CH5/EX5.8/Ex5_8_f1.pdf
new file mode 100644
index 000000000..c177764d6
--- /dev/null
+++ b/3432/CH5/EX5.8/Ex5_8_f1.pdf
diff --git a/3432/CH5/EX5.9/Ex5_9.sce b/3432/CH5/EX5.9/Ex5_9.sce
new file mode 100644
index 000000000..8b88c950b
--- /dev/null
+++ b/3432/CH5/EX5.9/Ex5_9.sce
@@ -0,0 +1,81 @@
+//Example 5.9
+//Root locus for the system having complex multiple roots.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function
+
+s=poly(0,'s');
+
+NumL=1;
+DenL=s*(s+2)*[(s+1)^2+4];
+
+L=NumL/DenL;
+
+zr=roots(NumL);
+pl=roots(DenL);
+
+//------------------------------------------------------------------
+//Angle of departure.
+//Find angle of departure from pole at phi1= - 1 + 2i
+//(real poles don't have angle of departure,
+// they move along real axis only) 
+
+//phi2=angle[(Departing pole)- (pole at 0)]
+[Mphi1, phi1] = polar(pl(1)-pl(4)) 
+phi1=real(phi1)*180/%pi;           //angle in degree
+
+//phi2=angle[(Departing pole)- (pole at -2)]
+[Mphi2, phi2] = polar(pl(1)-pl(3)) 
+phi2=real(phi2)*180/%pi;           //angle in degree
+
+//phi2=angle[(Departing pole)- (pole at - 1 - 2i)]
+[Mphi4, phi4] = polar(pl(1)-pl(2))
+phi4=real(phi4)*180/%pi;           //angle in degree
+
+//Therefore angle of departure phi1 at - 1 + 2i is
+//phi3 = 180 + sum(angle to zeros) - sum(angle to poles)
+
+phi3 = 180 - sum(phi1+phi2+phi4)
+
+//angle contributions in figure 
+figure(0)
+plzr(L)
+xset('font size',1.5)
+xarrows([real(pl(4));real(pl(1))],[imag(pl(4));imag(pl(1))],0,2)
+xarrows([real(pl(4)); 1],[0;0],0,2)
+xarc(-0.5,0.5,1,1,0,phi1*64)
+xstring(0.5,0.25,"$\phi_1$")
+
+xarrows([real(pl(3));real(pl(1))],[imag(pl(3));imag(pl(1))],0,5)
+xarrows([real(pl(3)); -1.3],[0;0],0,5)
+xarc(-2.5,0.5,1,1,0,phi2*64)
+xstring(-1.5,0.25,"$\phi_2$")
+
+xarrows([real(pl(2));real(pl(1))],[imag(pl(2));imag(pl(1))],0,17)
+xarrows([real(pl(2)); -0.3],[-2;-2],0,17)
+xarc(-1.5,-1.5,1,1,0,phi4*64)
+xstring(-0.5,-1.7,"$\phi_4$")
+
+xstring(-0.8,2,"$\phi_1$")
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Figure to computing a departure angle for',...
+'$L(s)=\frac{1}{s(s+2)[(s+1)^2+4]}$'],'fontsize',3)
+zoom_rect([-4 -3 4 3])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+//Root locus of system transfer function with controller
+figure(1)
+evans(L)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for','$L(s)=\frac{1}{s(s+2)[(s+1)^2+4]}$']...
+,'fontsize',3)
+zoom_rect([-4 -3 4 3])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
diff --git a/3432/CH5/EX5.9/Ex5_9_f0.pdf b/3432/CH5/EX5.9/Ex5_9_f0.pdf
new file mode 100644
index 000000000..32d94e99e
--- /dev/null
+++ b/3432/CH5/EX5.9/Ex5_9_f0.pdf
diff --git a/3432/CH5/EX5.9/Ex5_9_f1.pdf b/3432/CH5/EX5.9/Ex5_9_f1.pdf
new file mode 100644
index 000000000..f2f030a15
--- /dev/null
+++ b/3432/CH5/EX5.9/Ex5_9_f1.pdf
diff --git a/3432/CH6/EX6.10/Ex6_10.sce b/3432/CH6/EX6.10/Ex6_10.sce
new file mode 100644
index 000000000..f1f5c205f
--- /dev/null
+++ b/3432/CH6/EX6.10/Ex6_10.sce
@@ -0,0 +1,46 @@
+//Example 6.10
+// Nyquist plot for an Open-loop unstable system.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+sysG=(s+1)/(s*(s/10-1));
+evans(sysG,50)
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Root Locus for","$G(s)=(s+1)/[s(s/10-1)]$"],'fontsize',3)
+zoom_rect([-5 -4 5 4])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+h=legend('');
+h.visible = "off"
+
+g1=syslin('c',(s+1)/(s*(s/10-1)));
+//------------------------------------------------------------------
+//The bode plot of the system
+figure;
+bode(g1,0.1/2/%pi,100/2/%pi,"rad")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Bode plot for","$G(s)=(s+1)/[s(s/10-1)]$"],'fontsize',3)
+//bode(g,2*%pi*0.1,2*%pi*100)
+//------------------------------------------------------------------
+figure;
+//The nyquist plot of the system
+nyquist(g1,0.5/2/%pi,100/2/%pi,0.05)
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Nyquist plot for","$G(s)=(s+1)/[s(s/10-1)]$"],'fontsize',3)
+f=gca();
+f.x_location = "origin";
+f.y_location = "origin";
+zoom_rect([-2 -2 1 2]);
+xset("color",2);
+xset("font size", 3);
+xstring(-1,1.5,"${\fgcolor{blue}{\omega>0}}$",0,0);
+xstring(-1,-1.5,"${\fgcolor{blue}{\omega<0}}$",0,0);
+xstring(-1.5,0,"${\fgcolor{blue}{\omega=\pm \sqrt{10}}}$",0,0);
+xstring(-0.5,0.1,"${\fgcolor{blue}{\omega=\infty}}$",0,0);
+xarrows([-0.2;0],[0.2;0],-1,2)
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.10/Ex6_10_f0.pdf b/3432/CH6/EX6.10/Ex6_10_f0.pdf
new file mode 100644
index 000000000..36c7a5102
--- /dev/null
+++ b/3432/CH6/EX6.10/Ex6_10_f0.pdf
diff --git a/3432/CH6/EX6.10/Ex6_10_f1.pdf b/3432/CH6/EX6.10/Ex6_10_f1.pdf
new file mode 100644
index 000000000..b0d811d78
--- /dev/null
+++ b/3432/CH6/EX6.10/Ex6_10_f1.pdf
diff --git a/3432/CH6/EX6.11/Ex6_11.sce b/3432/CH6/EX6.11/Ex6_11.sce
new file mode 100644
index 000000000..4a782342d
--- /dev/null
+++ b/3432/CH6/EX6.11/Ex6_11.sce
@@ -0,0 +1,28 @@
+//Example 6.11
+// Stability properties for a conditionally stable system.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+Gs=(s+10)^2/(s^3);
+evans(Gs,100)
+exec .\fig_settings.sci; //custom script for setting figure properties
+zoom_rect([-40 -20 5 20])
+title(["Root locus for","$G(s)=(s+10)^2/s^3$"],'fontsize',3)
+h=legend('');
+h.visible = "off"
+Gs1=syslin('c',(s+10)^2/(s^3));
+//------------------------------------------------------------------
+//The nyquist plot of the system
+figure;
+nyquist(7*Gs1,8/2/%pi,100/2/%pi,0.005)
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Nyquist plot for","$G(s)=(s+10)^2/s^3$"],'fontsize',3)
+f=gca();
+f.x_location = "origin";
+f.y_location = "origin";
+xset("color",2);
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.11/Ex6_11_f0.pdf b/3432/CH6/EX6.11/Ex6_11_f0.pdf
new file mode 100644
index 000000000..68c587741
--- /dev/null
+++ b/3432/CH6/EX6.11/Ex6_11_f0.pdf
diff --git a/3432/CH6/EX6.11/Ex6_11_f1.pdf b/3432/CH6/EX6.11/Ex6_11_f1.pdf
new file mode 100644
index 000000000..3b2765043
--- /dev/null
+++ b/3432/CH6/EX6.11/Ex6_11_f1.pdf
diff --git a/3432/CH6/EX6.12/Ex6_12.sce b/3432/CH6/EX6.12/Ex6_12.sce
new file mode 100644
index 000000000..ae6ce2fd2
--- /dev/null
+++ b/3432/CH6/EX6.12/Ex6_12.sce
@@ -0,0 +1,40 @@
+//Example 6.12
+// Nyquist plot for a system with Multiple Crossover frequencies
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+K=85;
+g1=K*(s+1)/(s^2*(s^2+2*s+82));
+g2=(s^2+2*s+43.25)/(s^2+2*s+101);
+
+Gs=syslin('c',g2*g1);
+//------------------------------------------------------------------
+figure;
+//The nyquist plot of the system
+nyquist(Gs,0.5/2/%pi,100/2/%pi,0.005)
+title(["Nyquist plot for the complex system";...
+"$G(s)=85(s+1)(s^2+2s+43.25)/[((s^2+2s+82)(s^2+2s+101)]$"],...
+'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+zoom_rect([-2 -1 0.6 1])
+f=gca();
+f.x_location = "origin";
+f.y_location = "origin";
+xset("color",2);
+//------------------------------------------------------------------
+//The bode plot of the system
+gm=g_margin(Gs);
+pm=p_margin(Gs)
+disp(pm,"Phase margin",gm,"Gain margin")
+figure(1)
+bode(Gs,0.01/2/%pi,100/2/%pi,0.01)
+title(["Bode plot for";...
+"$G(s)=85(s+1)(s^2+2s+43.25)/[((s^2+2s+82)(s^2+2s+101)]$"],...
+'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+
diff --git a/3432/CH6/EX6.12/Ex6_12_f0.pdf b/3432/CH6/EX6.12/Ex6_12_f0.pdf
new file mode 100644
index 000000000..2c7078720
--- /dev/null
+++ b/3432/CH6/EX6.12/Ex6_12_f0.pdf
diff --git a/3432/CH6/EX6.12/Ex6_12_f1.pdf b/3432/CH6/EX6.12/Ex6_12_f1.pdf
new file mode 100644
index 000000000..6a3728170
--- /dev/null
+++ b/3432/CH6/EX6.12/Ex6_12_f1.pdf
diff --git a/3432/CH6/EX6.13/Ex6_13.sce b/3432/CH6/EX6.13/Ex6_13.sce
new file mode 100644
index 000000000..3d2221428
--- /dev/null
+++ b/3432/CH6/EX6.13/Ex6_13.sce
@@ -0,0 +1,77 @@
+//Example 6.13
+// Use of simple design criterion for spacecraft attitude control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+G=1/s^2;
+g1=syslin('c',G);
+
+//The bode plot of the system
+zoom_rect([0.01 -20 100 60])
+bode(g1,0.05/2/%pi,2/2/%pi,"rad")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Magnitude of the spacecrafts frequency','fontsize',3)
+//------------------------------------------------------------------
+
+K=1;
+Td=20;
+Ds=(Td*s+1);
+gd1=syslin('c',K*Ds*G);
+
+////The bode plot of compnenstaed open loop system
+figure
+bode(gd1,0.01/2/%pi,1/2/%pi,"rad")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Bode plot for compensated open-loop transfer function'...
+,'fontsize',3)
+xstring(0.02,70,"-40db/decade",0,0);
+xstring(0.2,40,"-20db/decade",0,0);
+
+//The bode plot of compnenstaed closed loop system
+K=0.01;
+gc1=K*gd1/(1+K*gd1);
+gcl1=syslin('c',gc1);
+figure
+bode(gcl1,0.01/2/%pi,10/2/%pi,"rad")
+title('Closesd loop frequency response','fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+
+//Bandwidth
+[frq, repf,splitf]=repfreq(gc1,[0.01/2/%pi:0.001:10/2/%pi]);
+[db, phi]=dbphi(repf);
+w=find(db<=db(1)-3);
+wc=w(1);
+frqc=frq(wc)*2*%pi;
+
+plot2d3(frqc,db(wc),5)
+
+[r c]=size(frq(1:w(1)));
+magn=db(wc)*ones(r,c)
+plot(frq(1:w(1))*2*%pi,magn,"b--")
+temp_db=db(w);
+[r c]=size(db(w));
+temp_w=frqc*ones(r,c);
+plot(temp_w,temp_db,"b--")
+xset("font size", 3);
+xstring(0.04,-16,"$\omega_{BW}$");
+xstring(frqc,-4,"-3db");
+xset("line style",4)
+xarrows([0.01;frqc],[-10;-10],-0.2,5)
+xarrows([frqc;0.01],[-10;-10],-0.2,5)
+//------------------------------------------------------------------
+//Step response of PD compnensation
+figure
+t=0:0.5:100;
+v=csim('step',t,gcl1);
+plot2d(t,v)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Step response for PD compensation','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('$\theta$','fontsize',2)
+//-------------------------------------------------------------------
diff --git a/3432/CH6/EX6.13/Ex6_13_f0.pdf b/3432/CH6/EX6.13/Ex6_13_f0.pdf
new file mode 100644
index 000000000..d57831e64
--- /dev/null
+++ b/3432/CH6/EX6.13/Ex6_13_f0.pdf
diff --git a/3432/CH6/EX6.13/Ex6_13_f3.pdf b/3432/CH6/EX6.13/Ex6_13_f3.pdf
new file mode 100644
index 000000000..42cd3fa60
--- /dev/null
+++ b/3432/CH6/EX6.13/Ex6_13_f3.pdf
diff --git a/3432/CH6/EX6.14/Ex6_14.sce b/3432/CH6/EX6.14/Ex6_14.sce
new file mode 100644
index 000000000..4ccf15583
--- /dev/null
+++ b/3432/CH6/EX6.14/Ex6_14.sce
@@ -0,0 +1,93 @@
+//Example 6.14 
+//Lead compensation for DC motor.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+g=1/s/(s+1);
+K=10; //DC gain
+KGs=syslin('c',K*g);
+
+//Lead compensator
+numD=s/2+1;
+denD=s/10+1;
+D=numD/denD;
+Ds=syslin('c',D);
+
+KGDs=Ds*KGs; //compensated system
+//------------------------------------------------------------------
+//(a) The bode plot of the system
+bode([KGs;KGDs],0.1/2/%pi,100/2/%pi,['KG(s)';'D(s)G(s)'],"rad");
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Frequency response of lead compensation design','fontsize',3)
+
+//root locus
+figure(1)
+evans(KGDs/K)
+xset("font size", 3);
+xstring(-10,4,"$KD(s)=\frac{s/2+1}{s/10+1}$",0,0)
+xstring(-10,2,"$G(s)=\frac{1}{s(s+1)}$",0,0)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for lead compensation design','fontsize',3)
+zoom_rect([-14 -8 4 8])
+f=gca();
+f.x_location = "origin";
+f.y_location = "origin";
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+//(b) digital version of lead compensator
+//Discretize the system using sampling time Ts=0.05 and Bilinear Transform
+Ts=0.05;        //in book its 0.005, which may not give expected responses
+D=tf2ss(KGDs/K/g);
+sysD=cls2dls(D,Ts);
+
+//Pulse transfer function
+Ddz=ss2tf(sysD)
+disp(Ddz,"Ddz=")
+
+//------------------------------------------------------------------
+//(c) Compare step and ramp responses.
+//step response switch sw=1 and for ramp response sw=0
+//------------------------------------------------------------------
+
+//step response
+sw=1; 
+importXcosDiagram(".\Ex6_14_model.xcos")
+
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure,
+a1=newaxes(); 
+a1.axes_bounds=[0,0,1.0,0.5];
+plot(time_resp.time,time_resp.values)
+
+xlabel('time');
+ylabel('y');
+title(["Lead-compensation design (a) step Response...
+ (b) ramp response"],'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller",4)
+//------------------------------------------------------------------
+//ramp response
+sw=0; 
+importXcosDiagram(".\Ex6_14_model.xcos")
+
+xcos_simulate(scs_m,4);
+scs_m.props.context
+
+a2=newaxes(); 
+a2.axes_bounds=[0,0.5,1.0,0.5];
+plot(time_resp.time,time_resp.values)
+
+xlabel('time');
+ylabel('y');
+title("(b)",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller",4)
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.14/Ex6_14_f1.pdf b/3432/CH6/EX6.14/Ex6_14_f1.pdf
new file mode 100644
index 000000000..107b25e38
--- /dev/null
+++ b/3432/CH6/EX6.14/Ex6_14_f1.pdf
diff --git a/3432/CH6/EX6.14/Ex6_14_f2.pdf b/3432/CH6/EX6.14/Ex6_14_f2.pdf
new file mode 100644
index 000000000..69288dbce
--- /dev/null
+++ b/3432/CH6/EX6.14/Ex6_14_f2.pdf
diff --git a/3432/CH6/EX6.14/Ex6_14_model.xcos b/3432/CH6/EX6.14/Ex6_14_model.xcos
new file mode 100644
index 000000000..98c1caa97
--- /dev/null
+++ b/3432/CH6/EX6.14/Ex6_14_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="5.0" title="Ex6_14_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7fa4" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="1"/><data column="0" line="1" value="s"/></ScilabString><ScilabDouble as="realParameters" height="4" width="1"><data column="0" line="0" realPart="-0.0"/><data column="0" line="1" realPart="1.0"/><data column="0" line="2" realPart="1.0"/><data column="0" line="3" realPart="0.0"/></ScilabDouble><ScilabDouble as="integerParameters" height="0" width="0"/><Array as="objectsParameters" scilabClass="ScilabList"/><ScilabDouble as="nbZerosCrossing" height="1" width="1"><data column="0" line="0" realPart="0.0"/></ScilabDouble><ScilabDouble as="nmode" height="1" width="1"><data column="0" line="0" realPart="0.0"/></ScilabDouble><ScilabDouble as="state" height="1" width="1"><data column="0" line="0" realPart="0.0"/></ScilabDouble><Array as="oDState" scilabClass="ScilabList"/><Array as="equations" scilabClass="ScilabList"/><mxGeometry as="geometry" height="40.0" width="60.0" x="580.0" y="110.0"/></BasicBlock><ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="-2dd55334:14dcbdd0183:-7f91" ordering="1" parent="-2dd55334:14dcbdd0183:-7fa4" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value=""><mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="16.0"/></ExplicitInputPort><ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" 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diff --git a/3432/CH6/EX6.15/Ex6_15.sce b/3432/CH6/EX6.15/Ex6_15.sce
new file mode 100644
index 000000000..2a3b9a491
--- /dev/null
+++ b/3432/CH6/EX6.15/Ex6_15.sce
@@ -0,0 +1,78 @@
+//Example 6.15
+//Lead compensation for Temperature Control System.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+numG=1;
+denG=(s/0.5+1)*(s+1)*(s/2+1);
+sysG=numG/denG;
+//Dc gain
+K=9;
+
+KGs=syslin('c',K*sysG);
+
+//Lead compensator 1
+numD=s+1;
+denD=s/3+1;
+D1=numD/denD;
+D1s=syslin('c',D1);
+
+KGD1s=D1s*KGs; //compensated system
+
+//Lead compensator 2
+numD=s/1.5+1;
+denD=s/15+1;
+D2=numD/denD;
+D2s=syslin('c',D2);
+
+KGD2s=D2s*KGs; //compensated system
+
+//The bode plot of the system with K
+bode([KGs;KGD1s;KGD2s],0.1/2/%pi,10/2/%pi,['KG';'KGD1';'KGD2'],"rad");
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Bode plot for lead compensation design','fontsize',3)
+//------------------------------------------------------------------
+//Margins of uncompensated and compensated systems
+[gm1,wcg1]=g_margin(KGs);
+[pm1,wcp1]=p_margin(KGs);
+disp(wcp1*2*%pi,"Wcp",wcg1*2*%pi,"Wcg",pm1,...
+"Phase margin",gm1,"Gain margin",...
+"Uncompensated system :")
+
+[gm2,wcg2]=g_margin(KGD1s);
+[pm2,wcp2]=p_margin(KGD1s);
+disp(wcp2*2*%pi,"Wcp",wcg2*2*%pi,"Wcg",pm2,...
+"Phase margin",gm2,"Gain margin",...
+"System with D1 compensator :")
+
+[gm3,wcg3]=g_margin(KGD2s);
+[pm3,wcp3]=p_margin(KGD2s);
+disp(wcp3*2*%pi,"Wcp",wcg3*2*%pi,"Wcg",pm3,...
+"Phase margin",gm3,"Gain margin",...
+"System with D2 compensator :")
+//------------------------------------------------------------------
+//step response comparison
+//closed loop system
+Gc1=KGD1s/(KGD1s+1);
+Gc2=KGD2s/(KGD2s+1);
+figure;
+t=0:0.05:20;
+v1=csim('step',t,Gc1);
+v2=csim('step',t,Gc2);
+plot2d([t',t'],[v1',v2'])
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Step response for lead compensation design','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('y','fontsize',2)
+
+xset("font size", 3);
+xarrows([2.5;1.5],[1.3;1.2],-1,1)
+xstring(2.5,1.3,"D2",0,0)
+xstring(4,1.2,"D1",0,0)
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.15/Ex6_15_f0.pdf b/3432/CH6/EX6.15/Ex6_15_f0.pdf
new file mode 100644
index 000000000..1e7a2c442
--- /dev/null
+++ b/3432/CH6/EX6.15/Ex6_15_f0.pdf
diff --git a/3432/CH6/EX6.15/Ex6_15_f1.pdf b/3432/CH6/EX6.15/Ex6_15_f1.pdf
new file mode 100644
index 000000000..7726e01ca
--- /dev/null
+++ b/3432/CH6/EX6.15/Ex6_15_f1.pdf
diff --git a/3432/CH6/EX6.16/Ex6_16.sce b/3432/CH6/EX6.16/Ex6_16.sce
new file mode 100644
index 000000000..a21196a34
--- /dev/null
+++ b/3432/CH6/EX6.16/Ex6_16.sce
@@ -0,0 +1,55 @@
+//Example 6.16
+//Lead compensation for Servomechanism System.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+numG=10;
+denG=s*(s/2.5+1)*(s/6+1);
+G=numG/denG;
+//Dc gain
+K=1;
+
+KGs=syslin('c',K*G);
+
+//Lead compensator 1
+numD=s/2+1;
+denD=s/20+1;
+D1=numD/denD;
+D1s=syslin('c',D1);
+
+KGD1s=D1s*KGs; //compensated system
+
+//Lead compensator 2
+numD=s/4+1;
+denD=s/40+1;
+D2=D1*numD/denD; //double compensator
+D2s=syslin('c',D2);
+
+
+KGD2s=D2s*KGs; //compensated system
+
+//The bode plot of the system with K
+bode([KGs;KGD1s;KGD2s],0.1/2/%pi,100/2/%pi,['KG';'KGD1';'KGD2'],"rad");
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Bode plot for lead compensation design','fontsize',3)
+//------------------------------------------------------------------
+//Margins of uncompensated and compensated systems
+[gm1,wcg1]=g_margin(KGs);
+[pm1,wcp1]=p_margin(KGs);
+disp(wcp1*2*%pi,"Wcp",wcg1*2*%pi,"Wcg",pm1,...
+"Phase margin",gm1,"Gain margin","Uncompensated system :")
+
+[gm2,wcg2]=g_margin(KGD1s);
+[pm2,wcp2]=p_margin(KGD1s);
+disp(wcp2*2*%pi,"Wcp",wcg2*2*%pi,"Wcg",pm2,...
+"Phase margin",gm2,"Gain margin","System with D1 compensator :")
+
+[gm3,wcg3]=g_margin(KGD2s);
+[pm3,wcp3]=p_margin(KGD2s);
+disp(wcp3*2*%pi,"Wcp",wcg3*2*%pi,"Wcg",pm3,...
+"Phase margin",gm3,"Gain margin","System with D2 compensator :")
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.16/Ex6_16_f0.pdf b/3432/CH6/EX6.16/Ex6_16_f0.pdf
new file mode 100644
index 000000000..b236af65f
--- /dev/null
+++ b/3432/CH6/EX6.16/Ex6_16_f0.pdf
diff --git a/3432/CH6/EX6.17/Ex6_17.sce b/3432/CH6/EX6.17/Ex6_17.sce
new file mode 100644
index 000000000..22af946e4
--- /dev/null
+++ b/3432/CH6/EX6.17/Ex6_17.sce
@@ -0,0 +1,57 @@
+//Example 6.17
+//Lag compensation for Temperature Control System.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+numG=1;
+denG=(s/0.5+1)*(s+1)*(s/2+1);
+G=numG/denG;
+//Dc gain
+K=3; //to set phase requirement
+
+KGs=syslin('c',K*G);
+
+//Lag compensator
+numD=5*s+1;
+denD=15*s+1;
+D=3*numD/denD;
+Ds=syslin('c',D);
+
+KGDs=Ds*KGs; //compensated system
+
+//The bode plot of the system with K
+bode([KGs;KGDs],0.01/2/%pi,10/2/%pi,['KG';'KGD'],"rad");
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Frequency response of lag-compensation design','fontsize',3)
+
+//------------------------------------------------------------------
+//Margins of uncompensated and compensated systems
+[gm1,wcg1]=g_margin(KGs);
+[pm1,wcp1]=p_margin(KGs);
+disp(wcp1*2*%pi,"Wcp",wcg1*2*%pi,"Wcg",pm1,"Phase margin",...
+gm1,"Gain margin","Uncompensated system :")
+
+[gm2,wcg2]=g_margin(KGDs);
+[pm2,wcp2]=p_margin(KGDs);
+disp(wcp2*2*%pi,"Wcp",wcg2*2*%pi,"Wcg",pm2,"Phase margin",...
+gm2,"Gain margin","Compensated system :")
+
+//------------------------------------------------------------------
+//step response
+//closed loop system
+Gc=KGDs/(KGDs+1);
+figure;
+t=0:0.05:20;
+v=csim('step',t,Gc);
+plot2d(t,v)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Step response for lag compensation design','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('y','fontsize',2)
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.17/Ex6_17_f0.pdf b/3432/CH6/EX6.17/Ex6_17_f0.pdf
new file mode 100644
index 000000000..441cf5bdb
--- /dev/null
+++ b/3432/CH6/EX6.17/Ex6_17_f0.pdf
diff --git a/3432/CH6/EX6.17/Ex6_17_f1.pdf b/3432/CH6/EX6.17/Ex6_17_f1.pdf
new file mode 100644
index 000000000..607607c60
--- /dev/null
+++ b/3432/CH6/EX6.17/Ex6_17_f1.pdf
diff --git a/3432/CH6/EX6.18/Ex6_18.sce b/3432/CH6/EX6.18/Ex6_18.sce
new file mode 100644
index 000000000..0ec43ba46
--- /dev/null
+++ b/3432/CH6/EX6.18/Ex6_18.sce
@@ -0,0 +1,42 @@
+//Example 6.18
+//Lag compensation for DC motor.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+g=1/s/(s+1);
+K=10; //DC gain
+KGs=syslin('c',K*g);
+
+//Lag compensator
+numD=10*s+1; //0.1 
+denD=100*s+1; //0.01
+D=numD/denD;
+Ds=syslin('c',D);
+
+KGDs=Ds*KGs; //compensated system
+
+//The bode plot of the system
+bode([KGs;KGDs],0.001/2/%pi,10/2/%pi,['KG(s)';'D(s)G(s)'],"rad");
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Frequency response of lag-compensation design...
+ of DC motor','fontsize',3)
+//------------------------------------------------------------------
+//step response
+//closed loop system
+Gc=KGDs/(KGDs+1);
+figure;
+t=0:0.05:50;
+v=csim('step',t,Gc);
+plot(t,v,2)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Step response for Lag-compensation design...
+ of DC motor','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('y','fontsize',2)
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.18/Ex6_18_f0.pdf b/3432/CH6/EX6.18/Ex6_18_f0.pdf
new file mode 100644
index 000000000..5f85523a2
--- /dev/null
+++ b/3432/CH6/EX6.18/Ex6_18_f0.pdf
diff --git a/3432/CH6/EX6.18/Ex6_18_f1.pdf b/3432/CH6/EX6.18/Ex6_18_f1.pdf
new file mode 100644
index 000000000..e43c621c4
--- /dev/null
+++ b/3432/CH6/EX6.18/Ex6_18_f1.pdf
diff --git a/3432/CH6/EX6.19/Ex6_19.sce b/3432/CH6/EX6.19/Ex6_19.sce
new file mode 100644
index 000000000..126f637d0
--- /dev/null
+++ b/3432/CH6/EX6.19/Ex6_19.sce
@@ -0,0 +1,74 @@
+//Example 6.19
+//PID compensation design for spacecraft attitude control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+G1=(0.9/s^2);
+G2=(2/(s+2));
+G=G1*G2;
+Gs=syslin('c',G);
+
+// PID controller parameters
+Td_inv=0.1;  //  Td_inv=1/Td=0.1
+Kd=1/Td_inv; //Kd=Td=Td_inv (derivative gain)
+
+Ti_inv=0.005;  //  Ti_inv=1/Ti=0.005
+Ki=Ti_inv; //Ki=Ti_inv (integral gain)
+
+Kp=0.05 //Kp (Proportional gain)
+
+D=Kp*(Kd*s+1)*(Ki/s+1); //PID Compensator
+
+Dsc=syslin('c',D);
+
+Ds=syslin('c',D/Kp); //PID Compensator with Kp=1 
+// Compensated system with Kp=1
+GDs=Gs*Ds;
+//PID compensated system Kp=0.05;
+GDsc=Gs*Dsc;
+//------------------------------------------------------------------
+//The bode plots
+bode([Gs;GDs;GDsc],0.01/2/%pi,100/2/%pi,...
+['G(s)';'D(s)G(s) with (Kp=1)';'D(s)G(s) with (Kp=0.05)'],"rad");
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Compensation for PID design','fontsize',3)
+
+//Phase margin of pid compensated system with Kp=0.05;
+[pm wcp]=p_margin(GDsc);
+
+//------------------------------------------------------------------
+//closed loop system
+//step response
+Gc=GDsc/(GDsc+1);
+figure;
+t=0:0.05:40;
+y=csim('step',t,Gc);
+plot(t,y,2)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Step response for PID compensation of spacecraft'...
+,'fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('$theta$','fontsize',2)
+//------------------------------------------------------------------
+//step disturbance response
+Gc=G1/((G1*G2*D)+1);
+Gcs=syslin('c',Gc);
+figure;
+t=0:0.5:1000;
+u=0.1*ones(1,length(t));
+y=csim(u,t,Gcs)
+plot(t,y,2)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Step disturbance response for PID compensation...
+ of spacecraft','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('$theta$','fontsize',2)
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.19/Ex6_19_f0.pdf b/3432/CH6/EX6.19/Ex6_19_f0.pdf
new file mode 100644
index 000000000..f2687e07e
--- /dev/null
+++ b/3432/CH6/EX6.19/Ex6_19_f0.pdf
diff --git a/3432/CH6/EX6.19/Ex6_19_f1.pdf b/3432/CH6/EX6.19/Ex6_19_f1.pdf
new file mode 100644
index 000000000..c4b8b9759
--- /dev/null
+++ b/3432/CH6/EX6.19/Ex6_19_f1.pdf
diff --git a/3432/CH6/EX6.2.b/Ex6_2.sce b/3432/CH6/EX6.2.b/Ex6_2.sce
new file mode 100644
index 000000000..03eae0b42
--- /dev/null
+++ b/3432/CH6/EX6.2.b/Ex6_2.sce
@@ -0,0 +1,28 @@
+//Example 6.2
+//Frequency response characteristics of Lead compensator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot 
+K=1, T=1, alpha=0.1
+s=poly(0,'s');
+sysD=syslin('c',K*(T*s+1)/(alpha*T*s+1));
+
+//The bode plot of the system
+
+fmin=0.1/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=100/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax); 
+//OR 
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(sysD,fmin,fmax,"rad") 
+
+//------------------------------------------------------------------
+title('(a) Magnitude and  (b) phase for the lead compensator',...
+'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.2.b/Ex6_2_f0.pdf b/3432/CH6/EX6.2.b/Ex6_2_f0.pdf
new file mode 100644
index 000000000..827a43a3d
--- /dev/null
+++ b/3432/CH6/EX6.2.b/Ex6_2_f0.pdf
diff --git a/3432/CH6/EX6.3/Ex6_3.sce b/3432/CH6/EX6.3/Ex6_3.sce
new file mode 100644
index 000000000..bb49eb066
--- /dev/null
+++ b/3432/CH6/EX6.3/Ex6_3.sce
@@ -0,0 +1,65 @@
+//Example 6.3
+//Bode Plot for Real Poles and Zeros.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=2000;
+s=poly(0,'s');
+Gs=syslin('c',(K*(s+0.5))/(s*(s+10)*(s+50)));
+
+//The bode plot of the system
+wmin=0.1;         // mininmum frq. in rad/sec for response
+wmax=100;         // maximum frq. in red/sec for response
+fmin=wmin/2/%pi   // mininmum frq. in Hz for response
+fmax=wmax/2/%pi   // maximum frq. in Hz for response
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax) 
+//OR 
+//(Only for scilab ver. 5.5.1)
+//Bode (frequency scale in rad/sec)
+// or gainplot or phaseplot plot with asymptotes
+figure(0)
+gainplot(Gs,fmin,fmax);
+bode_asymp(Gs,wmin,wmax);
+xstring(0.03,22,"slope=-1(-20db/dec)",0,0);
+xstring(0.2,9,"slope=0",0,0);
+xstring(3,7,"slope=-1(-20db/dec)",0,0)
+xstring(0.9,-8,"slope=-2(-40db/dec)",0,0)
+title('Composit plots (a) magnitude plot','fontsize',3);
+h=legend('');
+exec .\fig_settings.sci; //custom script for setting figure properties
+h.visible = "off"
+//------------------------------------------------------------------
+
+//phase plot for poles and zeros
+zr=((s/0.5)+1)/s //infact this is zero and pole at origin. 
+zr=syslin('c', zr);
+pl1=1/((s/10)+1) 
+pl1=syslin('c', pl1);
+pl2=1/((s/50)+1) 
+pl2=syslin('c', pl2);
+figure(1)
+phaseplot([Gs;zr;pl1;pl2],fmin,fmax);
+xstring(5.5,-14,"$\frac {1}{s/0.5+1}$",0,0);
+xstring(2.8,-22,"$\frac{1}{s/50+1}$",0,0);
+xstring(2.5,-60,"$\frac{1}{s/10+1}$",0,0); 
+xstring(1.2,-100,["Composite";"(Actual)"],0,0);
+title('Composit plots (b) Phase','fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+
+//------------------------------------------------------------------
+figure(2)
+bode(Gs,fmin,fmax,"rad"); //frequency scale n radians
+bode_asymp(Gs,wmin,wmax);
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('(c) magnitude plot and phase plot approximate and actual...
+','fontsize',3)
+xstring(2.8,-22,"$\frac{1}{s/50+1}$",0,0);
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.3/Ex6_3_f0.pdf b/3432/CH6/EX6.3/Ex6_3_f0.pdf
new file mode 100644
index 000000000..f3440487a
--- /dev/null
+++ b/3432/CH6/EX6.3/Ex6_3_f0.pdf
diff --git a/3432/CH6/EX6.3/Ex6_3_f1.pdf b/3432/CH6/EX6.3/Ex6_3_f1.pdf
new file mode 100644
index 000000000..fa0837daa
--- /dev/null
+++ b/3432/CH6/EX6.3/Ex6_3_f1.pdf
diff --git a/3432/CH6/EX6.4/Ex6_4.sce b/3432/CH6/EX6.4/Ex6_4.sce
new file mode 100644
index 000000000..6e1124ae6
--- /dev/null
+++ b/3432/CH6/EX6.4/Ex6_4.sce
@@ -0,0 +1,28 @@
+//Example 6.4
+//Bode Plot with Complex Poles.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=10;
+s=poly(0,'s');
+Gs=syslin('c',(K)/(s*(s^2+0.4*s+4)));
+//The bode plot of the system
+
+fmin=0.1/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=10/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax); 
+//OR 
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(Gs,fmin,fmax,0.01,"rad") 
+
+//------------------------------------------------------------------
+title(['Bode plot for a transfer function with complex poles';...
+ '(a) magnitude...
+ (b) phase'],'fontsize',3)
+
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.4/Ex6_4_f0.pdf b/3432/CH6/EX6.4/Ex6_4_f0.pdf
new file mode 100644
index 000000000..58d9414da
--- /dev/null
+++ b/3432/CH6/EX6.4/Ex6_4_f0.pdf
diff --git a/3432/CH6/EX6.6/Ex6_6.sce b/3432/CH6/EX6.6/Ex6_6.sce
new file mode 100644
index 000000000..a70ab9c7a
--- /dev/null
+++ b/3432/CH6/EX6.6/Ex6_6.sce
@@ -0,0 +1,30 @@
+//Example 6.6
+//Bode Plot for Complex Poles and Zeros:
+//Satellite with Flexible appendages.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=0.01;
+s=poly(0,'s');
+NumG=K*(s^2+0.01*s+1);
+DenG=s^2*((s^2/4)+0.02*(s/2)+1)
+sysG=syslin('c',NumG/DenG);
+
+fmin=0.09/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=11/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax); 
+//OR 
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(sysG,fmin,fmax,0.01,"rad") 
+
+//------------------------------------------------------------------
+title(["Bode plot for a transfer function with complex...
+poles and zeros"; "(a) magnitude (b) phase"],'fontsize',3)
+//------------------------------------------------------------------
+
+disp('NOTE : Result of the above example can be verified by checking the figures shown in example 6.5')
diff --git a/3432/CH6/EX6.6/Ex6_6_f0.pdf b/3432/CH6/EX6.6/Ex6_6_f0.pdf
new file mode 100644
index 000000000..9e2dc1595
--- /dev/null
+++ b/3432/CH6/EX6.6/Ex6_6_f0.pdf
diff --git a/3432/CH6/EX6.7/EX6_7_f0.pdf b/3432/CH6/EX6.7/EX6_7_f0.pdf
new file mode 100644
index 000000000..9e46a121d
--- /dev/null
+++ b/3432/CH6/EX6.7/EX6_7_f0.pdf
diff --git a/3432/CH6/EX6.7/Ex6_7.sce b/3432/CH6/EX6.7/Ex6_7.sce
new file mode 100644
index 000000000..0ea6d5b7f
--- /dev/null
+++ b/3432/CH6/EX6.7/Ex6_7.sce
@@ -0,0 +1,44 @@
+//Example 6.7
+//Computation of velocity error constant Kv from Bode plot
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=10;
+s=poly(0,'s');
+Gs=syslin('c',(K)/(s*(s+1)));
+//The bode plot of the system
+
+fmin=0.01/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=10/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax); 
+//OR 
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(Gs,fmin,fmax,0.01,"rad")
+title(['Determination of Kv from the Bode plot for the system',...
+'$10/[s(s+1)]$'],'fontsize',3)
+//choose frequency (rad) and magnitude from bode plot and calculate Kv
+//Here at w=0.01, magngitude in db is M=60 
+//i.e actual magnitude of the reponse is |A|=10^(M/20)
+w=0.01;      // in rad
+M=60         // in db
+A=10^(M/20)  //actual gain
+
+//Velocity error constant Kv=w*|A(w)|
+Kv=w*A;
+disp(Kv,"The Velocity error Constant from bode plot is: ")
+//------------------------------------------------------------------
+// Computation of the Kv
+[frq repf]=repfreq(Gs,fmin,fmax);
+//frq in Hz, repf is freq. response in rectangular form.  
+//From bode plot, Kv=w*|A(w)|
+//i.e Kv=2*pi*f*|A(2*pi*f)|
+
+idx=1;//selecting the frequency and response at that frequency from arrays
+Kv=2*%pi*frq(idx)*abs(repf(idx))
+disp(Kv,"The Velocity error Constant is computed at 0.0015915 Hz (0.01 rad/sec) : ")
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.8/Ex6_8.sce b/3432/CH6/EX6.8/Ex6_8.sce
new file mode 100644
index 000000000..6625052d3
--- /dev/null
+++ b/3432/CH6/EX6.8/Ex6_8.sce
@@ -0,0 +1,48 @@
+//Example 6.8
+// Nyquist plot for a second order system.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus
+s=poly(0,'s');
+g=1/(s+1)^2;
+sysG=syslin('c',g);
+
+evans(sysG);
+exec .\fig_settings.sci; //custom script for setting figure properties
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+title(['Root locus of','$G(s)=1/(s+1)^2$','with respect to K'],...
+'fontsize',3)
+zoom_rect([-3,-2,2,3])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+figure(1)
+//The bode plot of the system
+fmin=0.01/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=100/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax); 
+//OR 
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(sysG,fmin,fmax,0.01,"rad") 
+title(['Open loop bode plot for', '$G(s)=1/(s+1)^2$'],'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+
+figure(2)
+//The nyquist plot of the system
+nyquist(sysG);
+title('Nyquist plot of the evaluation of K G(s) for s=C1 and K=1'...
+,'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset('color',2)
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.8/Ex6_8_f0.pdf b/3432/CH6/EX6.8/Ex6_8_f0.pdf
new file mode 100644
index 000000000..2bb5cdb61
--- /dev/null
+++ b/3432/CH6/EX6.8/Ex6_8_f0.pdf
diff --git a/3432/CH6/EX6.8/Ex6_8_f1.pdf b/3432/CH6/EX6.8/Ex6_8_f1.pdf
new file mode 100644
index 000000000..690c6b5e1
--- /dev/null
+++ b/3432/CH6/EX6.8/Ex6_8_f1.pdf
diff --git a/3432/CH6/EX6.9/Ex6_9.sce b/3432/CH6/EX6.9/Ex6_9.sce
new file mode 100644
index 000000000..a66b127dc
--- /dev/null
+++ b/3432/CH6/EX6.9/Ex6_9.sce
@@ -0,0 +1,53 @@
+//Example 6.9
+// Nyquist plot for a third order system.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+g=syslin('c',1/(s*(s+1)^2));
+
+//The bode plot of the system
+fmin=0.01/2/%pi;
+fmax=100/2/%pi;
+//[frq,repf]=repfreq(g1,fmin,fmax,0.01);
+bode(g,fmin,fmax,"rad");
+frq=[1,10]/2/%pi;
+[frq, repf]=repfreq(g,frq);
+[db, phi]=dbphi(repf);
+plot(frq*2*%pi,db,'ro');
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Bode plot for","$G(s)=1/[s(s+1)^2]$"],'fontsize',3)
+//zoom_rect([[0.1 0] -70 [12 -180] 20])
+xset("font size", 3);
+
+xstring(1,0,"$C\,\, (\omega=1)$",0,0);
+xstring(2,-75,"$E\,\, (\omega=10)$",0,0);
+f=gca();
+
+//------------------------------------------------------------------
+//The nyquist plot of the system
+figure;
+nyquist(g,0.8/2/%pi,10/2/%pi,0.02)
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Nyquist plot for","$G(s)=1/[s(s+1)]^2$"],'fontsize',3)
+f=gca();
+f.x_location = "origin";
+f.y_location = "origin";
+zoom_rect([-1 -0.2 0.5 0.2]);
+xset("clipping", -1.2, 0.2, 1.4,0.4);
+xset("font size", 3);
+xset("color",2);
+xstring(-0.6,0.1,"${\fgcolor{blue}{\omega<0}}$",0,0);
+xstring(-0.6,-0.1,"${\fgcolor{blue}{\omega>0}}$",0,0);
+xstring(-0.7,0.005,"${\fgcolor{blue}{\omega=\pm 1}}$",0,0);
+xstring(-1,-0.2,...
+"${\fgcolor{blue}{\text{From \infty at \omega=0^+}}$",0,0);
+ xstring(-0.7,0.15,"${\fgcolor{blue}...
+ {\text{Towards \infty at \omega=0^-}}$",0,0);
+xstring(-0.525,-0.04,"C",0,0);
+xstring(-0.075,0,"E",0,0);
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX6.9/Ex6_9_f0.pdf b/3432/CH6/EX6.9/Ex6_9_f0.pdf
new file mode 100644
index 000000000..0717e6cf9
--- /dev/null
+++ b/3432/CH6/EX6.9/Ex6_9_f0.pdf
diff --git a/3432/CH6/EX6.9/Ex6_9_f1.pdf b/3432/CH6/EX6.9/Ex6_9_f1.pdf
new file mode 100644
index 000000000..482ef9388
--- /dev/null
+++ b/3432/CH6/EX6.9/Ex6_9_f1.pdf
diff --git a/3432/CH6/EX7.29/Ex7_29.sce b/3432/CH6/EX7.29/Ex7_29.sce
new file mode 100644
index 000000000..a0c479432
--- /dev/null
+++ b/3432/CH6/EX7.29/Ex7_29.sce
@@ -0,0 +1,74 @@
+//Example 7.29
+// A reduced order compensator design for a satellite attitude control
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space representation
+F=[0 1;0 0];
+G=[0 1]';
+H=[1 0];
+J=0;
+n=sqrt(length(F));//order of the system
+
+//partioned system
+Faa=F(1,1); Fab=F(1,2);
+Fba=F(2,1); Fbb=F(2,2);
+Ga=G(1);Gb=G(2);
+
+// Desired estimator poles
+Pe=[-5];
+// Observer gain matrix for system 
+L=ppol(Fbb',Fab',Pe);
+L=L';
+disp(L,"L=" );
+//------------------------------------------------------------------
+//State feedback control law u=-Kx=-(K+[L*k2 0])[y xc]'; 
+k1=1; k2=sqrt(2);
+K=[k1 k2];
+Kc=K+[L*k2 0];
+//------------------------------------------------------------------
+//compensator differential equation
+//xc_dot=(Fbb-L*Fab)*xb_hat + (Fba - L*Faa)*y + (Gb - L*Ga)*u
+//xc_dot=((Fbb-L*Fab)-k2)*xc + [(Fba - L*Faa)-(Gb - L*Ga)*(k1+L*k2)+L*(Fbb-L*Fab)]*y 
+Fc=(Fbb-L*Fab)-Gb*k2
+Fy=(Fba - L*Faa)-(Gb - L*Ga)*(k1+k2*L)+(Fbb-L*Fab)*L
+//compensator transfer function
+s=poly(0,'s');
+Gest=syslin('c',Fy/(s-Fc))//estimator transfer function
+Dcr=-[k1+L*k2+k2*Gest]
+disp(Dcr,'Dcr','compensator transfer function')
+//------------------------------------------------------------------
+//Root locus with reduced order compensator
+G=1/s^2;
+G=syslin('c',G);
+exec('./zpk_dk.sci', -1);
+[pl,zr Kp]=zpk_dk(Dcr);
+
+Dcr=poly(zr,'s','roots')/poly(pl,'s','roots')
+Dcr=syslin('c',Dcr);
+evans(G*Dcr)
+zoom_rect([-8 -4  2 4])
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Root locus of a reduced order controller and',"$1/s^2$",...
+ "process"],'fontsize',3);
+//------------------------------------------------------------------
+//Frequnecy response for 1/s^2 and compensated
+
+figure,
+bode([-Kp*G*Dcr;G],0.01/2/%pi,100/2/%pi,"rad");
+title(["Frequency response","$G(s)=1/s^2$", "with a reduced...
+ order estimator"],'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend('Compensated','Uncompensated')
+//------------------------------------------------------------------
diff --git a/3432/CH6/EX7.29/Ex7_29_f0.pdf b/3432/CH6/EX7.29/Ex7_29_f0.pdf
new file mode 100644
index 000000000..c2a23bbb2
--- /dev/null
+++ b/3432/CH6/EX7.29/Ex7_29_f0.pdf
diff --git a/3432/CH6/EX7.29/Ex7_29_f1.pdf b/3432/CH6/EX7.29/Ex7_29_f1.pdf
new file mode 100644
index 000000000..5b330b97d
--- /dev/null
+++ b/3432/CH6/EX7.29/Ex7_29_f1.pdf
diff --git a/3432/CH7/EX7.10/Ex7_10.sce b/3432/CH7/EX7.10/Ex7_10.sce
new file mode 100644
index 000000000..e4accd101
--- /dev/null
+++ b/3432/CH7/EX7.10/Ex7_10.sce
@@ -0,0 +1,21 @@
+//Example 7.10
+//Transformation of Thermal System from Control to Modal Form
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space matrices of the given system
+Ac=[-7 1; -12 0];
+Bc=[1;2];
+Cc=[1 0];
+Dc=0;
+//------------------------------------------------------------------
+// State space representation in modal canonical form
+T=[4 -3;-1 1]
+Am=T\Ac*T;
+Bm=T\Bc;
+Cm=Cc*T;
+Dm=Dc;
+disp(Dm,"Dm",Cm,"Cm", Bm,"Bm",Am,"Am","Thermal System in modal canonical form")
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.11/Ex7_11.sce b/3432/CH7/EX7.11/Ex7_11.sce
new file mode 100644
index 000000000..e1ad0bce1
--- /dev/null
+++ b/3432/CH7/EX7.11/Ex7_11.sce
@@ -0,0 +1,48 @@
+//Example 7.11
+//Poles and Zeros of Tape Drive System.
+//Also, Transform the system into modal form
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space matrices of Tape Drive System
+
+F=[0 2 0 0 0;
+-0.1 -0.35 0.1 0.1 0.75;
+0 0 0 2 0;
+0.4 0.4 -0.4 -1.4 0;
+0 -0.03 0 0 -1];
+G=[0 0 0 0 1]';
+H2=[0 0 1 0 0];
+H3=[0.5 0 0.5 0 0];
+Ht=[-0.2 -0.2 0.2 0.2 0];
+//------------------------------------------------------------------
+// Poles (eigen values) of the system
+p=clean(spec(F));
+disp(p,"Poles of Tape Drive System are")
+
+//It requires complete state-space model.
+sys=syslin('c',F,G,[Ht;H2;H3],[0;0;0])
+
+// zeros of the system
+[tr]=trzeros(sys)
+disp(tr,"Transmission zeros of Tape Drive System are")
+//------------------------------------------------------------------
+// State space representation in modal canonical form with H3 output only.
+
+[m Am1]=spec(F)
+T1=[1/2 -%i/2;1/2 %i/2];
+//transformation for a complex pair of eigen values.
+temp=eye(5,5);
+T=[T1 zeros(2,3);zeros(3,2) eye(3,3)]; 
+temp(1,1)=-1; temp(2,2)=-1; //for change in input output signs as desired
+M=m*T*temp //real Modal transformation
+
+Am=clean(M\F*M);
+Bm=clean(M\G);
+Cm=clean(H3*M);
+Dm=0;
+
+disp(Dm,"Dm",Cm,"Cm", Bm,"Bm",Am,"Am","Tape Drive System in modal canonical form")
+//------------------------------------------------------------------------------
diff --git a/3432/CH7/EX7.12/Ex7_12.sce b/3432/CH7/EX7.12/Ex7_12.sce
new file mode 100644
index 000000000..2eaead769
--- /dev/null
+++ b/3432/CH7/EX7.12/Ex7_12.sce
@@ -0,0 +1,23 @@
+//Example 7.12
+//Transformation of Thermal System from state description
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model of Thermal System
+s=%s;
+F=[-7 -12; 1 0];
+G=[1;0];
+H=[1 2];
+J=0;
+sys=syslin('c',F,G,H,J)
+//------------------------------------------------------------------
+//Transfer function model of Thermal System
+[ch num den]=ss2tf(sys);
+disp(num/den, "G=","Transfer function model of Thermal System")
+//------------------------------------------------------------------
+
+
+
+
diff --git a/3432/CH7/EX7.13/Ex7_13.sce b/3432/CH7/EX7.13/Ex7_13.sce
new file mode 100644
index 000000000..82c5e3b49
--- /dev/null
+++ b/3432/CH7/EX7.13/Ex7_13.sce
@@ -0,0 +1,24 @@
+//Example 7.13
+//Zeros for the Thermal System from a State Description
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model of the given system
+F=[-7 -12; 1 0];
+G=[1;0];
+H=[1 2];
+J=0;
+sysG=syslin('c',F,G,H,J)
+//------------------------------------------------------------------
+//Transfer function model
+[d num den]=ss2tf(sysG);
+zr=roots(num);
+disp(zr,'zr=');
+//Alternately, it can be obtained as
+zr=trzeros(sysG);
+disp(zr,'zr=');
+//------------------------------------------------------------------
+
+
diff --git a/3432/CH7/EX7.14/Ex7_14.sce b/3432/CH7/EX7.14/Ex7_14.sce
new file mode 100644
index 000000000..1812532d1
--- /dev/null
+++ b/3432/CH7/EX7.14/Ex7_14.sce
@@ -0,0 +1,74 @@
+//Example 7.14
+//Analysis of state equations of Tape Drive.
+//compute the poles, zeros  and transfer function of Tape Drive System.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space matrices of Tape Drive System
+
+F=[0 2 0 0 0;
+-0.1 -0.35 0.1 0.1 0.75;
+0 0 0 2 0;
+0.4 0.4 -0.4 -1.4 0;
+0 -0.03 0 0 -1];
+G=[0 0 0 0 1]';
+H2=[0 0 1 0 0];
+H3=[0.5 0 0.5 0 0];
+Ht=[-0.2 -0.2 0.2 0.2 0];
+//------------------------------------------------------------------
+//Poles (eigen values) of the system
+p=clean(spec(F));
+
+disp(p,"P","Poles of Tape Drive System are (for any output)")
+disp("************************************************************")
+
+
+disp("pole and zero polynomials and transfer function...
+ for a system with output H2")
+sys2=syslin('c',F,G,H2,0);
+[d2 num2 den2]=ss2tf(sys2);
+N2=coeff(num2);
+D2=coeff(den2);
+disp(D2,"D2",N2,"N2")
+// zeros of the system with output H2
+[zer2]=trzeros(sys2)
+disp(zer2,"ZER2","zeros are")
+// transfer function of the system with output H2
+G2=clean(num2/den2);
+disp(G2,"G2(s)=N2(s)/D2(s)=")
+disp("************************************************************")
+
+disp("pole and zero polynomials and transfer function for a...
+ system with output H3")
+sys3=syslin('c',F,G,H3,0);
+[d3 num3 den3]=ss2tf(sys3);
+N3=coeff(num3);
+D3=coeff(den3);
+disp(D3,"D3",N3,"N3")
+// zeros of the system with output H3
+[zer3]=trzeros(sys3)
+disp(zer3,"ZER3","zeros are")
+// transfer function of the system with output H3
+G3=clean(num2/den2);
+disp(G3,"G3(s)=N3(s)/D3(s)=")
+disp("************************************************************")
+
+
+disp("pole and zero polynomials and transfer function for a...
+ system with output Ht")
+syst=syslin('c',F,G,Ht,0);
+[dt numt dent]=ss2tf(syst);
+Nt=coeff(numt);
+Dt=coeff(dent);
+disp(Dt,"Dt",Nt,"Nt","zeros are")
+// zeros of the system with output Ht
+[zert]=trzeros(syst)
+disp(zert,"ZERT")
+// transfer function of the system with output Ht
+Gt=clean(numt/dent);
+disp(Gt,"G(s)=Nt(s)/Dt(s)=")
+disp("************************************************************")
+//------------------------------------------------------------------
+
diff --git a/3432/CH7/EX7.15/Ex7_15.sce b/3432/CH7/EX7.15/Ex7_15.sce
new file mode 100644
index 000000000..b0b2aa556
--- /dev/null
+++ b/3432/CH7/EX7.15/Ex7_15.sce
@@ -0,0 +1,46 @@
+//Example 7.15
+//Control law for a pendulum.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Pendulum state model;
+w0=1;
+
+F=[0 1;-w0^2 0];
+G=[0 1]';
+H=eye(2,2); //representing x1 and x2 states as outputs
+J=[0 0]';
+
+sys=syslin('c',F,G,H,J); //open loop system
+
+x0=[1 0]' //initial condition 
+t=0:0.2:7;
+y=csim('impulse',t,sys); //open loop response
+//------------------------------------------------------------------
+
+//simulation for closed loop system
+x0=[1 0]' //initial condition 
+
+//control law u=-Kx;
+K=[3*w0^2 4*w0];
+syscl=syslin('c',(F-G*K),G,H,J); //closed loop system
+
+
+t=0:0.1:7;
+u=zeros(1,length(t));
+[x z]=csim(u,t,syscl,x0); //closed loop response
+plot(t',x');
+
+u=-K*x;
+plot(t',u'/4,'r--'); //control law u plot (scaled to 1/4 in figure);
+legend("x1","x2","u/4")
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Impulse response of undamped oscillator with full-state...
+ feedback(w0=1)','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.15/Ex7_15_f0.pdf b/3432/CH7/EX7.15/Ex7_15_f0.pdf
new file mode 100644
index 000000000..fda837dd8
--- /dev/null
+++ b/3432/CH7/EX7.15/Ex7_15_f0.pdf
diff --git a/3432/CH7/EX7.16/Ex7_16.sce b/3432/CH7/EX7.16/Ex7_16.sce
new file mode 100644
index 000000000..36e32f805
--- /dev/null
+++ b/3432/CH7/EX7.16/Ex7_16.sce
@@ -0,0 +1,25 @@
+//Example 7.16
+//Ackermann's formula for undamped oscillator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//undamped oscillator (Pendulum) state model;
+w0=1;
+
+F=[0 1;-w0^2 0];
+G=[0 1]';
+H=eye(2,2); //representing x1 and x2 states as outputs
+J=[0 0]';
+//------------------------------------------------------------------
+//Ackermann's formula for feedback gain computation
+
+pc=[-2 -2];   //desired poles
+exec('./acker_dk.sci', -1);
+[K,eig]=acker_dk(F,G,pc)
+disp(K,"Feedback gain K=")
+disp(eig,"Closed loop eigen values are ")
+//------------------------------------------------------------------
+
+
diff --git a/3432/CH7/EX7.17/Ex7_17.sce b/3432/CH7/EX7.17/Ex7_17.sce
new file mode 100644
index 000000000..3d564e36a
--- /dev/null
+++ b/3432/CH7/EX7.17/Ex7_17.sce
@@ -0,0 +1,35 @@
+//Example 7.17 How zero location affect control law
+// Obtain state feedback gain matrix for the given system
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//(a) state feedback gain matrix for zero at 2.
+//Location of system Zero
+z0=2;
+
+// State space representation
+Ao=[-7 1;-12 0];
+Bo=[1 -z0]';
+Co=[1 0];
+Do=0;
+
+// Desired poles
+Pd=[1 2 4];
+Pc=roots(Pd);
+
+
+// State feedback gain matrix for system zero at -2.0
+K=ppol(Ao,Bo,Pc)
+disp(K,"K=","State feeback gain for a system with zero at 2" )
+//------------------------------------------------------------------
+//Location of system Zero
+z0=-2.99
+B=[1 -z0]';
+// State feedback gain matrix for system zero...
+// at -2.99 (by ackermann's formula)
+exec('./acker_dk.sci', -1);
+K1=acker_dk(Ao,B,Pc)
+disp(K1,"K1","State feeback gain for a system with zero at -2.99")
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.18/Ex7_18.sce b/3432/CH7/EX7.18/Ex7_18.sce
new file mode 100644
index 000000000..5be65a2a6
--- /dev/null
+++ b/3432/CH7/EX7.18/Ex7_18.sce
@@ -0,0 +1,56 @@
+//Example 7.18
+//Introducing the reference input.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Pendulum state model;
+w0=1;
+
+F=[0 1;-w0^2 0];
+G=[0 1]';
+H=[1 0]; //representing x1 and x2 states as outputs
+J=0;
+n=sqrt(length(F));
+
+//computing state feedback matrix to place poles at [-2 -2]
+exec('./acker_dk.sci', -1);
+K=acker_dk(F,G,[-2, -2]);
+//------------------------------------------------------------------
+//augmented matrix for tracking the reference
+A=[F G;H J];
+N=A\[zeros(1,n) 1]';
+Nx=N(1:n);
+Nu=N(n+1);
+
+//feedforward gain (input weight)
+Ntilde=Nu+K*Nx;
+
+//------------------------------------
+//Alternately, it can be computed as /
+Ntilde1=-inv(H*inv(F-G*K)*G); //     /
+//------------------------------------
+
+//Closed loop system and step response
+syscl=syslin('c',(F-G*K),G*Ntilde,H,J); //closed loop system
+
+t=0:0.1:7;
+[y x]=csim('step',t,syscl); //closed loop response
+plot(t',x');
+
+u=-K*x+Ntilde;
+plot(t',u'/4,'r--'); //control law u plot (scaled to 1/4 in figure);
+legend("x1","x2","u/4");
+xset('font size',3);
+xstring(5,0.93,"$x_{ss}$")
+xstring(5,0.25,"$u_{ss}$")
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Step response of undamped oscillator to reference input',...
+'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel('Amplitude','fontsize',2);
+
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.18/Ex7_18_f0.pdf b/3432/CH7/EX7.18/Ex7_18_f0.pdf
new file mode 100644
index 000000000..18e8af6f6
--- /dev/null
+++ b/3432/CH7/EX7.18/Ex7_18_f0.pdf
diff --git a/3432/CH7/EX7.19/Ex7_19.sce b/3432/CH7/EX7.19/Ex7_19.sce
new file mode 100644
index 000000000..013575d69
--- /dev/null
+++ b/3432/CH7/EX7.19/Ex7_19.sce
@@ -0,0 +1,56 @@
+//Example 7.19
+//Reference input to Type-1 control system: DC Motor
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+//Location of system Zero
+z0=2;
+
+// State space representation
+F=[0 1;0 -1];
+G=[0 1]';
+H=[1 0]; 
+J=0;
+n=sqrt(length(F)); //order of the system
+
+//computing state feedback matrix to place poles at assumed location [-1 -2]
+exec('./acker_dk.sci', -1);
+K=acker_dk(F,G,[-1, -2]); //assume pd=[-1 -2]
+//------------------------------------------------------------------
+//augmented matrix for tracking the reference
+A=[F G;H J];
+N=A\[zeros(1,n) 1]';
+Nx=N(1:n);
+Nu=N(n+1);
+disp(Nx,"Nx",Nu,"Nu")
+
+//feedforward gain (input weight)
+Ntilde=Nu+K*Nx;
+disp(Ntilde,"N_tilde","Input gain: N_tilde =Nu+K Nx")
+//------------------------------------------------------------------
+// Verify if ||y-r|| -> 0;
+
+syscl=syslin('c',(F-G*K),G*Ntilde,H,J); //closed loop system
+
+t=0:0.1:10;
+r=ones(1,length(t));//reference input
+[y x]=csim('step',t,syscl); //closed loop response
+
+e=sqrt((r-y).^2) //norm of error
+plot(t,y);
+plot(t,r,'m:'); //reference input
+plot(t,e,'r-.'); //norm of error
+xset('font size',3);
+xstring(3,0.83,"y")
+xstring(2,1,"r")
+xstring(3,0.1,"$\|e\|$")
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Step response of undamped oscillator to reference input','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel('Amplitude','fontsize',2);
+zoom_rect([0 -0.1 10 1.1])
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.19/Ex7_19_f0.pdf b/3432/CH7/EX7.19/Ex7_19_f0.pdf
new file mode 100644
index 000000000..67707bcb4
--- /dev/null
+++ b/3432/CH7/EX7.19/Ex7_19_f0.pdf
diff --git a/3432/CH7/EX7.2.b/Ex7_2.sce b/3432/CH7/EX7.2.b/Ex7_2.sce
new file mode 100644
index 000000000..3cffa9bfa
--- /dev/null
+++ b/3432/CH7/EX7.2.b/Ex7_2.sce
@@ -0,0 +1,36 @@
+//Example 7.2
+//Cruise control system step response.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+clc;
+//------------------------------------------------------------------
+//Cruise control system parameters
+m=1000;
+b=50;
+u=500;
+
+// Transfer function
+s=%s; // or 
+s=poly(0,'s');
+sys1=syslin('c',(1/m)/(s+b/m));
+disp(sys1)
+//------------------------------------------------------------------
+F=[0 1; 0 -b/m];
+G=[0;1/m];
+H=[0 1];
+J=0;
+sys=syslin('c',F,G,H,J);
+//------------------------------------------------------------------
+//step response to u=500;
+t=0:0.5:100;
+v=csim('step',t,u*sys);
+plot(t,v,2)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Responses of car velocity to a step in u','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.2.b/Ex7_2_f0.pdf b/3432/CH7/EX7.2.b/Ex7_2_f0.pdf
new file mode 100644
index 000000000..4b40aab00
--- /dev/null
+++ b/3432/CH7/EX7.2.b/Ex7_2_f0.pdf
diff --git a/3432/CH7/EX7.20/Ex7_20.sce b/3432/CH7/EX7.20/Ex7_20.sce
new file mode 100644
index 000000000..14140dde4
--- /dev/null
+++ b/3432/CH7/EX7.20/Ex7_20.sce
@@ -0,0 +1,79 @@
+//Example 7.20
+// Pole Placement as a Dominant Second-Order System
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+clc;
+clear all;
+
+// State space representation
+F=[0 2 0 0 0;-0.10 -0.35 0.1 0.1 0.75; 0 0 0 2 0;...
+ 0.4 0.4 -0.4 -1.4 0; 0 -0.03 0 0 -1];
+G=[0 0 0 0 1]';
+H=[0.5 0 0.5 0 0]; //Tape position at the head
+Ht=[-0.2 -0.2 0.2 0.2 0]; //Tension output
+J=0;
+n=sqrt(length(F))
+// Desired poles
+Pc=[-0.707+0.707*%i -0.707-0.707*%i -4 -4 -4]/1.5;
+//------------------------------------------------------------------
+// State feedback gain matrix via LQR (riccati equation)
+Q = eye(5,5);
+R =1
+// Riccati equation
+P=riccati(F, G*inv(R)*G', Q, 'c')
+K1=inv(R)*G'*P
+//------------------------------------------------------------------
+// State feedback gain matrix via pole-placement
+exec('./acker_dk.sci', -1);
+K2=acker_dk(F,G,Pc);
+disp(K2,'K2=',"Gain by ackermans formula" );
+//------------------------------------------------------------------
+Ntilde1=-inv(H*inv(F-G*K1)*G); //input gain for LQR feedback gain.
+Ntilde2=-inv(H*inv(F-G*K2)*G); //input gain for Ackerman's feedback gain.
+
+syscl1=syslin('c',(F-G*K1),G*Ntilde1,H,J); //closed loop system with K1
+syscl2=syslin('c',(F-G*K2),G*Ntilde2,H,J); //closed loop system with K2
+
+t=0:0.1:12;
+[y1 x1]=csim('step',t,syscl1); //response of position head with K1
+[y2 x2]=csim('step',t,syscl2); //response of position head with K2
+
+//plot of a position of read write head
+plot(t,y1,"m-."); //Design via LQR
+plot(t,y2,2); //Design via Ackerman's Formula
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Step response of tape servomotor designs','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel('Tape Posotion','fontsize',2);
+
+xstring(2.5,1.1,"LQR")
+xarrows([3;4],[1.1;0.95],-1,1)
+xstring(5,0.7,["Dominant";"second order"])
+xarrows([5;4.2],[0.8;0.9],-1.5,1)
+//------------------------------------------------------------------
+
+//response as a tape tension
+yt1=Ht*x1;
+yt2=Ht*x2;
+
+figure(1)
+plot(t,yt1,"m-."); //Design via LQR
+plot(t,yt2,2); //Design via Ackerman's Formula
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Tension plots for tape servomotor step responses','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel('Tape Tension','fontsize',2);
+
+xstring(3.5,0,"LQR")
+xarrows([3.7;4.7],[0;0],-1)
+xstring(6.1,-0.015,["Dominant";"second order"])
+xarrows([6;6],[-0.013;-0.002],-1)
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.20/Ex7_20_f0.pdf b/3432/CH7/EX7.20/Ex7_20_f0.pdf
new file mode 100644
index 000000000..3fe7ab6e3
--- /dev/null
+++ b/3432/CH7/EX7.20/Ex7_20_f0.pdf
diff --git a/3432/CH7/EX7.20/Ex7_20_f1.pdf b/3432/CH7/EX7.20/Ex7_20_f1.pdf
new file mode 100644
index 000000000..2569de48e
--- /dev/null
+++ b/3432/CH7/EX7.20/Ex7_20_f1.pdf
diff --git a/3432/CH7/EX7.21/Ex7_21.sce b/3432/CH7/EX7.21/Ex7_21.sce
new file mode 100644
index 000000000..59ceda7f6
--- /dev/null
+++ b/3432/CH7/EX7.21/Ex7_21.sce
@@ -0,0 +1,42 @@
+//Example 7.21
+// Symmetric root locus (SRL) for servo speed control
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Transfer function model of the given system
+a=1.5;//assume
+s=poly(0,'s');
+nums=1;
+dens=s+a;
+num_s=1;
+den_s=-s+a;
+G0s=syslin('c',nums/dens); //G0(s)
+G0_s=syslin('c',num_s/den_s); //G0(-s)
+
+evans(G0s)
+evans(G0_s)
+zoom_rect([-3 -0.1 3 0.1])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Symmetric root locus for a first order system','fontsize',3);
+//------------------------------------------------------------------
+//Root locus design
+//rho>0; choose rho=2
+rho=2;
+//optimal pole p=-sqrt(a^2+rho)
+p=-sqrt(a^2+rho)
+sig=real(p);
+omega=imag(p);
+plot(sig,omega,'ro')
+xstring(-2.5,0.02,["pole location at";"$\rho=2$"])
+xarrows([-2.2;-2.07],[0.02;0.002],-1.5,1)
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.21/Ex7_21_f0.pdf b/3432/CH7/EX7.21/Ex7_21_f0.pdf
new file mode 100644
index 000000000..7ae1c591e
--- /dev/null
+++ b/3432/CH7/EX7.21/Ex7_21_f0.pdf
diff --git a/3432/CH7/EX7.22/Ex7_22.sce b/3432/CH7/EX7.22/Ex7_22.sce
new file mode 100644
index 000000000..4e277f626
--- /dev/null
+++ b/3432/CH7/EX7.22/Ex7_22.sce
@@ -0,0 +1,46 @@
+//Example 7.22
+// SRL design for satellite attitude control
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Transfer function for satellite attitude control system
+s=poly(0,'s');
+nums=1;
+dens=s^2;
+num_s=1;
+den_s=(-s)^2;
+G0s=syslin('c',nums/dens); //G0(s)
+G0_s=syslin('c',num_s/den_s); //G0(-s)
+//evans(G0s*G0_s)
+evans(1/s^4)
+zoom_rect([-3 -3 3 3])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Symmetric root locus for the satellite','fontsize',3);
+//------------------------------------------------------------------
+//Root locus design
+//choose rho=4.07 that places pole at -1+-j
+rho=4.07;
+chr_eqn=(1+rho*G0s*G0_s)
+p=[-1+%i, -1-%i];
+sig=real(p);
+omega=imag(p);
+plot(sig,omega,'ro')
+xstring(-2.2,0.5,["pole locations at";"$\rho=4.07$"])
+//------------------------------------------------------------------
+//pole-placement design;
+sys=tf2ss(G0s);
+exec('./acker_dk.sci', -1);
+K=acker_dk(sys.A,sys.B,p);
+syscl=syslin('c',(sys.A-sys.B*K),sys.B, sys.C, sys.D)
+disp(spec(syscl.A),"Closed loop eigen values");
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.22/Ex7_22_f0.pdf b/3432/CH7/EX7.22/Ex7_22_f0.pdf
new file mode 100644
index 000000000..ebc7654c5
--- /dev/null
+++ b/3432/CH7/EX7.22/Ex7_22_f0.pdf
diff --git a/3432/CH7/EX7.23/Ex7_23.sce b/3432/CH7/EX7.23/Ex7_23.sce
new file mode 100644
index 000000000..c2e1d2e46
--- /dev/null
+++ b/3432/CH7/EX7.23/Ex7_23.sce
@@ -0,0 +1,70 @@
+//Example 7.23
+// SRL Design for an Inverted Pendulum 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+//Transfer function model of Inverted Pendulum.
+s=poly(0,'s');
+
+nums=-(s+2);
+dens=(s^2-1)
+num_s=-(-s+2);
+den_s=((-s)^2-1)
+G0s=syslin('c',nums/dens); //G0(s)
+G0_s=syslin('c',num_s/den_s); //G0(-s)
+sysGG=G0s*G0_s;
+evans(sysGG)
+title('Symmetric root locus for Inverted Pendulum')
+zoom_rect([-3 -2 3 2])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Symmetric root locus for the inverted pendulum','fontsize',3);
+//------------------------------------------------------------------
+//Root locus design
+//choose rho=1 that places pole at -1.36+-j0.606
+rho=1;
+p=[-1.36+0.606*%i, -1.36-0.606*%i];
+sig=real(p);
+omega=imag(p);
+plot(sig,omega,'ro')
+xstring(-1.25,0.5,["pole locations at";"$\rho=1$"])
+//------------------------------------------------------------------
+//pole-placement design;
+Ac=[0 1;1 0];Bc=[0 -1]'; Cc=[2 1];Dc=0;
+exec('./acker_dk.sci', -1);
+K=acker_dk(Ac,Bc,p);
+disp(K,"K=",spec(Ac-Bc*K),"Closed loop eigen values");
+
+//input gain calculation
+n=sqrt(length(Ac));
+A=[Ac Bc;Cc Dc];
+N=A\[zeros(1,n) 1]';
+Nx=N(1:n);
+Nu=N(n+1);
+
+//feedforward gain (input gain)
+Ntilde=Nu+K*Nx;
+
+//Step respose
+t=0:0.1:4.5;
+syscl=syslin('c',(Ac-Bc*K),Bc*Ntilde, Cc, Dc)
+[y x]=csim('step',t,syscl); //closed loop response
+figure,
+plot(t,y);
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Step response for inverted pendulum','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel(["Position","$x_1$"],'fontsize',2);
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.23/Ex7_23_f0.pdf b/3432/CH7/EX7.23/Ex7_23_f0.pdf
new file mode 100644
index 000000000..ec5d19937
--- /dev/null
+++ b/3432/CH7/EX7.23/Ex7_23_f0.pdf
diff --git a/3432/CH7/EX7.23/Ex7_23_f1.pdf b/3432/CH7/EX7.23/Ex7_23_f1.pdf
new file mode 100644
index 000000000..0caae0420
--- /dev/null
+++ b/3432/CH7/EX7.23/Ex7_23_f1.pdf
diff --git a/3432/CH7/EX7.24/Ex7_24.sce b/3432/CH7/EX7.24/Ex7_24.sce
new file mode 100644
index 000000000..a816cd7c7
--- /dev/null
+++ b/3432/CH7/EX7.24/Ex7_24.sce
@@ -0,0 +1,108 @@
+//Example 7.24
+// LQR Design for a Tape Drive
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model for a Tape Drive
+F=[0 2 0 0 0;-0.10 -0.35 0.1 0.1 0.75; 0 0 0 2 0; 0.4 0.4 -0.4 -1.4 0; 0 -0.03 0 0 -1];
+G=[0 0 0 0 1]';
+H3=[0.5 0 0.5 0 0];
+//------------------------------------------------------------------
+// State feedback gain matrix via LQR (riccati equation)
+// (a) Continuous LQR for rho=1
+rho=1;
+R1=1;
+Q1=rho*H3'*H3;
+// Riccati equation
+P1=riccati(F, G*inv(R1)*G', Q1, 'c')
+K1=inv(R1)*G'*P1
+disp(K1,'K1')
+//------------------------------------------------------------------
+// State feedback gain matrix via LQR (riccati equation)
+// (a) Comparision in step response with rho=0.1,1,10.
+rho=0.1;
+R2=1;
+Q2=rho*H3'*H3;
+// Riccati equation
+P2=riccati(F, G*inv(R2)*G', Q2, 'c')
+K2=inv(R2)*G'*P2
+
+rho=10;
+R3=1;
+Q3=rho*H3'*H3;
+// Riccati equation
+P3=riccati(F, G*inv(R3)*G', Q3, 'c')
+K3=inv(R3)*G'*P3
+//------------------------------------------------------------------
+//input gains for step reference with rho=0.1,1,10.
+Ntilde1=-inv(H3*inv(F-G*K1)*G);
+Ntilde2=-inv(H3*inv(F-G*K2)*G);
+Ntilde3=-inv(H3*inv(F-G*K3)*G);
+
+//Closed loop system with rho=0.1,1,10.
+syscl1=syslin('c',(F-G*K1),G*Ntilde1,H3,0);
+syscl2=syslin('c',(F-G*K2),G*Ntilde2,H3,0);
+syscl3=syslin('c',(F-G*K3),G*Ntilde3,H3,0);
+
+//step response with rho=0.1,1,10.
+t=0:0.1:12;
+[y1 x1]=csim('step',t,syscl1); //closed loop response
+[y2 x2]=csim('step',t,syscl2); //closed loop response
+[y3 x3]=csim('step',t,syscl3); //closed loop response
+
+figure,
+a1=newaxes();
+a1.axes_bounds=[0,0,1.0,0.5];
+plot(t,y1);
+plot(t,y2,'r-.');
+plot(t,y3,'m:');
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('(a)Step response of step servo motor for LQR Design','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel(["Tape Position","$x_3$"],'fontsize',2);
+
+xstring(4.1,0.85,"$\rho=1$")
+xstring(5.5,0.75,"$\rho=0.1$")
+xstring(2.1,1.05,"$\rho=10$")
+//------------------------------------------------------------------
+//Tensions for the Tape
+//For tape output is Ht=[-0.2 -0.2 0.2 0.2 0];
+Ht=[-0.2 -0.2 0.2 0.2 0];
+H3=Ht;
+//input gains can not be computed because of singularity. so set it 1;
+Ntilde1=1;
+Ntilde2=1;
+Ntilde3=1;
+
+//Closed loop system with rho=0.1,1,10.
+syscl1=syslin('c',(F-G*K1),G*Ntilde1,H3,0);
+syscl2=syslin('c',(F-G*K2),G*Ntilde2,H3,0);
+syscl3=syslin('c',(F-G*K3),G*Ntilde3,H3,0);
+
+//step response with rho=0.1,1,10.
+t=0:0.1:12;
+[y1 x1]=csim('step',t,syscl1); //closed loop response
+[y2 x2]=csim('step',t,syscl2); //closed loop response
+[y3 x3]=csim('step',t,syscl3); //closed loop response
+
+a2=newaxes();
+a2.axes_bounds=[0,0.5,1.0,0.5];
+plot(t,y1);
+plot(t,y2,'r-.');
+plot(t,y3,'m:');
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('(b)Corresponding tension for Tape servomotor step response','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel(["Tape Tension","T"],'fontsize',2);
+
+
+xstring(4.3,-0.05,"$\rho=1$")
+xstring(6,-0.1,"$\rho=0.1$")
+xstring(1.5,-0.03,"$\rho=10$")
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.24/Ex7_24_f0.pdf b/3432/CH7/EX7.24/Ex7_24_f0.pdf
new file mode 100644
index 000000000..b91050fcc
--- /dev/null
+++ b/3432/CH7/EX7.24/Ex7_24_f0.pdf
diff --git a/3432/CH7/EX7.25/Ex7_25.sce b/3432/CH7/EX7.25/Ex7_25.sce
new file mode 100644
index 000000000..0128a2fa0
--- /dev/null
+++ b/3432/CH7/EX7.25/Ex7_25.sce
@@ -0,0 +1,52 @@
+//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
new file mode 100644
index 000000000..e24633f1a
--- /dev/null
+++ b/3432/CH7/EX7.25/Ex7_25_f0.pdf
diff --git a/3432/CH7/EX7.26/Ex7_26.sce b/3432/CH7/EX7.26/Ex7_26.sce
new file mode 100644
index 000000000..7485ee2b1
--- /dev/null
+++ b/3432/CH7/EX7.26/Ex7_26.sce
@@ -0,0 +1,55 @@
+//Example 7.26
+// A reduced order estimator design for 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
+
+//partioned system
+Faa=F(1,1); Fab=F(1,2);
+Fba=F(2,1); Fbb=F(2,2);
+
+// Desired estimator poles
+Pe=[-10];
+// Observer gain matrix for system 
+L=ppol(Fbb',Fab',Pe);
+L=L';
+disp(L,"L=" );
+//------------------------------------------------------------------
+//simulation for closed loop system
+x0=[1 0 10]' //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,1); Fab, L*Fab, Fbb-L*Fab];
+Gaug=[0 0 0]';
+Haug=[H 0];
+J=0;
+
+sys_aug=syslin('c',Faug,Gaug,Haug,J);
+t=0:0.1:4;
+u=zeros(1,length(t));
+[x z]=csim(u,t,sys_aug,x0); //closed loop response
+plot(t,z(1,:),'b');
+plot(t,z(2,:),'r');
+plot(t,z(3,:),'r--');
+
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Initial condition response of the reduced order estimator','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+legend('$x_1$','$x_2$','$\hat{x}_2$')
+xset('font size',2)
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.26/Ex7_26_f0.pdf b/3432/CH7/EX7.26/Ex7_26_f0.pdf
new file mode 100644
index 000000000..96d9f50aa
--- /dev/null
+++ b/3432/CH7/EX7.26/Ex7_26_f0.pdf
diff --git a/3432/CH7/EX7.27/Ex7_27.sce b/3432/CH7/EX7.27/Ex7_27.sce
new file mode 100644
index 000000000..8c3c51a9a
--- /dev/null
+++ b/3432/CH7/EX7.27/Ex7_27.sce
@@ -0,0 +1,41 @@
+//Example 7.27
+// SRL estimator design for a simple pendulum
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space representation
+F=[0 1; -1 0];
+G=[0 1]';
+H=[1 0];
+J=0;
+
+//Transfer function
+sys=syslin('c',F,G,H,J)
+sysGG=ss2tf(sys)
+
+//Symmetric root locus for the inverted pendulum estimator design
+//------------------------------------------------------------------
+//Root locus design
+evans(sysGG*sysGG)
+zoom_rect([-5 -5 5 5])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Symmetric root locus for inverted the pendulum estimator design',...
+'fontsize',3);
+//------------------------------------------------------------------
+//pole locations for q=365; p=-3+-j3.18
+p=[-3+3.18*%i -3-3.18*%i]
+sig=real(p);
+omega=imag(p);
+plot(sig,omega,'ro')
+xstring(-4,1,["pole location at";"q=365"])
+xarrows([-3.5;-3.05],[2;3.1],-1.5,1)
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.27/Ex7_27_f0.pdf b/3432/CH7/EX7.27/Ex7_27_f0.pdf
new file mode 100644
index 000000000..ad30cd949
--- /dev/null
+++ b/3432/CH7/EX7.27/Ex7_27_f0.pdf
diff --git a/3432/CH7/EX7.28/Ex7_28.sce b/3432/CH7/EX7.28/Ex7_28.sce
new file mode 100644
index 000000000..18d705b30
--- /dev/null
+++ b/3432/CH7/EX7.28/Ex7_28.sce
@@ -0,0 +1,61 @@
+//Example 7.28
+// Full order compensator design for satellite attitude control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+A=[0 1; 0 0];
+B=[0 1]';
+C=[1 0];
+D=0;
+n=sqrt(length(A));
+//Desired poles for the satellite attitude control system.
+Pc=[-0.707+0.707*%i -0.707-0.707*%i ]
+
+// State feedback gain
+K=ppol(A,B,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-2.5+4.3*%i -2.5-4.3*%i]
+L=ppol(A',C',Pe);
+L=L';
+disp(L,'L=',"Observer gain")
+//------------------------------------------------------------------
+//Compensator Design
+sys1=syslin('c',A,B,C,D);
+G=ss2tf(sys1);
+s=poly(0,'s');
+
+Ds=-K*inv(s*eye(n,n)-A+B*K+L*C)*L;
+
+exec('./zpk_dk.sci', -1);
+[pl,zr Kp]=zpk_dk(Ds);
+D=poly(zr,'s','roots')/poly(pl,'s','roots')
+
+evans(G*D)
+zoom_rect([-8 -6 8 6])
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Root locus for combined control and estimator,...
+ with process gain as the parameter','fontsize',3);
+//------------------------------------------------------------------
+//Frequnecy response for 1/s^2 and compensated
+
+figure,
+bode([-Ds*G;G],0.01/2/%pi,100/2/%pi,"rad");
+title(["Frequency response for","$G(s)=1/s^2$"],'fontsize',3)
+legend('Compensated','Uncompensated')
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.28/Ex7_28_f0.pdf b/3432/CH7/EX7.28/Ex7_28_f0.pdf
new file mode 100644
index 000000000..2f2a24476
--- /dev/null
+++ b/3432/CH7/EX7.28/Ex7_28_f0.pdf
diff --git a/3432/CH7/EX7.28/Ex7_28_f1.pdf b/3432/CH7/EX7.28/Ex7_28_f1.pdf
new file mode 100644
index 000000000..8d6311069
--- /dev/null
+++ b/3432/CH7/EX7.28/Ex7_28_f1.pdf
diff --git a/3432/CH7/EX7.29/Ex7_29.sce b/3432/CH7/EX7.29/Ex7_29.sce
new file mode 100644
index 000000000..a0c479432
--- /dev/null
+++ b/3432/CH7/EX7.29/Ex7_29.sce
@@ -0,0 +1,74 @@
+//Example 7.29
+// A reduced order compensator design for a satellite attitude control
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space representation
+F=[0 1;0 0];
+G=[0 1]';
+H=[1 0];
+J=0;
+n=sqrt(length(F));//order of the system
+
+//partioned system
+Faa=F(1,1); Fab=F(1,2);
+Fba=F(2,1); Fbb=F(2,2);
+Ga=G(1);Gb=G(2);
+
+// Desired estimator poles
+Pe=[-5];
+// Observer gain matrix for system 
+L=ppol(Fbb',Fab',Pe);
+L=L';
+disp(L,"L=" );
+//------------------------------------------------------------------
+//State feedback control law u=-Kx=-(K+[L*k2 0])[y xc]'; 
+k1=1; k2=sqrt(2);
+K=[k1 k2];
+Kc=K+[L*k2 0];
+//------------------------------------------------------------------
+//compensator differential equation
+//xc_dot=(Fbb-L*Fab)*xb_hat + (Fba - L*Faa)*y + (Gb - L*Ga)*u
+//xc_dot=((Fbb-L*Fab)-k2)*xc + [(Fba - L*Faa)-(Gb - L*Ga)*(k1+L*k2)+L*(Fbb-L*Fab)]*y 
+Fc=(Fbb-L*Fab)-Gb*k2
+Fy=(Fba - L*Faa)-(Gb - L*Ga)*(k1+k2*L)+(Fbb-L*Fab)*L
+//compensator transfer function
+s=poly(0,'s');
+Gest=syslin('c',Fy/(s-Fc))//estimator transfer function
+Dcr=-[k1+L*k2+k2*Gest]
+disp(Dcr,'Dcr','compensator transfer function')
+//------------------------------------------------------------------
+//Root locus with reduced order compensator
+G=1/s^2;
+G=syslin('c',G);
+exec('./zpk_dk.sci', -1);
+[pl,zr Kp]=zpk_dk(Dcr);
+
+Dcr=poly(zr,'s','roots')/poly(pl,'s','roots')
+Dcr=syslin('c',Dcr);
+evans(G*Dcr)
+zoom_rect([-8 -4  2 4])
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Root locus of a reduced order controller and',"$1/s^2$",...
+ "process"],'fontsize',3);
+//------------------------------------------------------------------
+//Frequnecy response for 1/s^2 and compensated
+
+figure,
+bode([-Kp*G*Dcr;G],0.01/2/%pi,100/2/%pi,"rad");
+title(["Frequency response","$G(s)=1/s^2$", "with a reduced...
+ order estimator"],'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend('Compensated','Uncompensated')
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.29/Ex7_29_f0.pdf b/3432/CH7/EX7.29/Ex7_29_f0.pdf
new file mode 100644
index 000000000..c2a23bbb2
--- /dev/null
+++ b/3432/CH7/EX7.29/Ex7_29_f0.pdf
diff --git a/3432/CH7/EX7.29/Ex7_29_f1.pdf b/3432/CH7/EX7.29/Ex7_29_f1.pdf
new file mode 100644
index 000000000..5b330b97d
--- /dev/null
+++ b/3432/CH7/EX7.29/Ex7_29_f1.pdf
diff --git a/3432/CH7/EX7.30/Ex7_30.sce b/3432/CH7/EX7.30/Ex7_30.sce
new file mode 100644
index 000000000..99e6aaee4
--- /dev/null
+++ b/3432/CH7/EX7.30/Ex7_30.sce
@@ -0,0 +1,73 @@
+//Example 7.30
+// Full-Order Compensator Design for DC Servo.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0];
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-1.42 -1.04+2.14*%i -1.04-2.14*%i ]
+
+
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-4.25 -3.13+6.41*%i -3.13-6.41*%i]
+L=ppol(F',H',Pe);
+L=L';
+disp(L,'L=',"Observer gain")
+//------------------------------------------------------------------
+//Compensator Design
+DK=-K*inv(s*eye(n,n)-F+G*K+L*H)*L;
+
+exec('./zpk_dk.sci', -1);
+[p,z]=zpk_dk(DK);
+D=poly(z,'s','roots')/poly(p,'s','roots')
+
+evans(Gs*D)
+zoom_rect([-8 -9 3 9])
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for DC servo pole assignment','fontsize',3);
+//------------------------------------------------------------------
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/3432/CH7/EX7.30/Ex7_30_f0.pdf b/3432/CH7/EX7.30/Ex7_30_f0.pdf
new file mode 100644
index 000000000..65b7d8541
--- /dev/null
+++ b/3432/CH7/EX7.30/Ex7_30_f0.pdf
diff --git a/3432/CH7/EX7.31/Ex7_31.sce b/3432/CH7/EX7.31/Ex7_31.sce
new file mode 100644
index 000000000..7e5955621
--- /dev/null
+++ b/3432/CH7/EX7.31/Ex7_31.sce
@@ -0,0 +1,83 @@
+//Example 7.31
+// Reduced-Order Estimator Design for DC Servo.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0]
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-1.42 -1.04+2.14*%i -1.04-2.14*%i ]
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//------------------------------------------------------------------
+//Estimator - error roots are at
+//partioned system
+Faa=F(1,1); Fab=F(1,2:3);
+Fba=F(3,1); Fbb=F(2:3,2:3);
+Ga=G(1);Gb=G(2:3);
+
+Pe=[-4.24+4.24*%i, -4.24-4.24*%i]
+// Observer gain matrix for system 
+L=ppol(Fbb',Fab',Pe);
+L=L';
+disp(L,"L=" );
+//------------------------------------------------------------------
+
+//State feedback control law u=-Kx=-(K+[L*k2 0])[y xc]'; 
+k1=K(1); k2=K(2:3);
+
+//------------------------------------------------------------------
+//compensator transfer function
+s=poly(0,'s');
+num=(-0.735+s)*(1.871+s);
+den=poly([-0.990 + 6.12* %i, -0.990 - 6.12* %i] ,'s','roots')
+Dcr=syslin('c',num/den);
+disp(Dcr,'Dcr','compensator transfer function')
+//------------------------------------------------------------------
+//Root locus with reduced order compensator
+evans(-Dcr*Gs)
+zoom_rect([-8 -9 3 9])
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for DC servo reduced order controller','fontsize',3);
+//------------------------------------------------------------------
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/3432/CH7/EX7.31/Ex7_31_f0.pdf b/3432/CH7/EX7.31/Ex7_31_f0.pdf
new file mode 100644
index 000000000..98c3a4296
--- /dev/null
+++ b/3432/CH7/EX7.31/Ex7_31_f0.pdf
diff --git a/3432/CH7/EX7.32/Ex7_32.sce b/3432/CH7/EX7.32/Ex7_32.sce
new file mode 100644
index 000000000..ca1184424
--- /dev/null
+++ b/3432/CH7/EX7.32/Ex7_32.sce
@@ -0,0 +1,122 @@
+//Example 7.32
+// Redesign of the Dc servo compensator using SRL
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0]
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-2+1.56*%i -2-1.56*%i -8.04]
+
+
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-4+4.49*%i -4-4.49*%i -9.169]
+exec .\acker_dk.sci;
+Lt=ppol(F',H',Pe);
+L=clean(Lt');
+disp(L,'L=',"Observer gain")
+//Error in book, Gain values are different in book.
+//------------------------------------------------------------------
+//Compensator Design
+DK=-K*inv(s*eye(n,n)-F+G*K+L*H)*L;
+DK=syslin('c',DK)
+exec('./zpk_dk.sci', -1);
+[pl,zr,Kp]=zpk_dk(DK);
+Dc=poly(zr,'s','roots')/poly(pl,'s','roots')
+//------------------------------------------------------------------
+//symmetric root locus 
+G_s=horner(Gs,-s);
+evans(Gs*G_s)
+zoom_rect([-10 -5 10 5])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Symmetric root locus','fontsize',3);
+//------------------------------------------------------------------
+//root locus 
+figure,
+evans(Gs*Dc) //Correct root locus
+zoom_rect([-11 -6 1 6])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for pole assignment from the SRL','fontsize',3);
+//------------------------------------------------------------------
+//Discrete-time controller
+nc=94.5*conv([7.98 1],[2.52 1])
+dc=conv([59.5348 8.56 1],[10.6 1])
+sysDc=poly(nc,'s','coeff')/poly(dc,'s','coeff');
+sysDc_ss=syslin('c',tf2ss(sysDc));
+ts=0.1;
+sysDd=dscr(sysDc_ss,ts)
+Gdz=ss2tf(sysDd);
+
+disp(sysDc,"Continuous-time compensator")
+disp(Gdz,"Discrete-time compensator")
+//------------------------------------------------------------------
+//step responses
+importXcosDiagram(".\Ex7_32_model.xcos")
+
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure,
+plot(yt.time,yt.values(:,1),2)
+plot(yt.time,yt.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('y');
+title("Comaprison of step responses for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller",4)
+
+//Control inputs
+figure,
+plot(ut.time,ut.values(:,1),2)
+plot(ut.time,ut.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('u');
+title("Comaprison of control signals for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller")
+//------------------------------------------------------------------
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/3432/CH7/EX7.32/Ex7_32_f0.pdf b/3432/CH7/EX7.32/Ex7_32_f0.pdf
new file mode 100644
index 000000000..10af89212
--- /dev/null
+++ b/3432/CH7/EX7.32/Ex7_32_f0.pdf
diff --git a/3432/CH7/EX7.32/Ex7_32_f2.pdf b/3432/CH7/EX7.32/Ex7_32_f2.pdf
new file mode 100644
index 000000000..0c39c3903
--- /dev/null
+++ b/3432/CH7/EX7.32/Ex7_32_f2.pdf
diff --git a/3432/CH7/EX7.32/Ex7_32_model.xcos b/3432/CH7/EX7.32/Ex7_32_model.xcos
new file mode 100644
index 000000000..73d29da91
--- /dev/null
+++ b/3432/CH7/EX7.32/Ex7_32_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="5.0" title="Ex7_32_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="10"/><data column="0" line="1" value="16*s + 10*s^2 + s^3 "/></ScilabString><ScilabDouble as="realParameters" height="16" width="1"><data column="0" line="0" realPart="0.0"/><data column="0" line="1" realPart="0.0"/><data column="0" line="2" realPart="-0.0"/><data column="0" line="3" realPart="1.0"/><data column="0" line="4" realPart="0.0"/><data column="0" 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width="8.0" x="-8.0" y="-4.0"/></ExplicitInputPort><ExplicitOutputPort dataType="UNKNOW_TYPE" id="-5c6e81bd:14e42b54a0f:-7b3b" ordering="1" parent="-5c6e81bd:14e42b54a0f:-7b3d" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" visible="0"><mxGeometry as="geometry" height="8.0" width="8.0" x="7.0" y="-4.0"/></ExplicitOutputPort><ExplicitOutputPort dataType="UNKNOW_TYPE" id="-5c6e81bd:14e42b54a0f:-7b3a" ordering="2" parent="-5c6e81bd:14e42b54a0f:-7b3d" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" visible="0"><mxGeometry as="geometry" height="8.0" width="8.0" x="7.0" y="-4.0"/></ExplicitOutputPort><ExplicitLink id="-5c6e81bd:14e42b54a0f:-7b39" parent="-2dd55334:14dcbdd0183:-7fd3" source="-5c6e81bd:14e42b54a0f:-7ab7" target="-5c6e81bd:14e42b54a0f:-7b3c"><mxGeometry as="geometry"><Array as="points" scilabClass="ScilabList"/></mxGeometry></ExplicitLink><ExplicitLink 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y="150.0"/></Array></mxGeometry></CommandControlLink></root></mxGraphModel><mxCell as="defaultParent" id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><mxPoint as="origin" y="-2.0"/></XcosDiagram>
+\ No newline at end of file
diff --git a/3432/CH7/EX7.33/Ex7_33.sce b/3432/CH7/EX7.33/Ex7_33.sce
new file mode 100644
index 000000000..46c2f6a57
--- /dev/null
+++ b/3432/CH7/EX7.33/Ex7_33.sce
@@ -0,0 +1,47 @@
+//Example 7.33
+// DC servo system redesign with modified with dominant second
+// order pole locations.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0]
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-1.41+1.41*%i -1.41-1.41*%i -8]
+
+
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-4.24+4.24*%i -4.24-4.24*%i -8]
+exec .\acker_dk.sci;
+Lt=ppol(F',H',Pe);
+L=clean(Lt');
+disp(L,'L=',"Observer gain")
+//Error in book, Gain values are different in book.
+//------------------------------------------------------------------
+//Compensator Design
+DK=-K*inv(s*eye(n,n)-F+G*K+L*H)*L;
+DK=syslin('c',DK)
+exec('./zpk_dk.sci', -1);
+[pl,zr,Kp]=zpk_dk(DK*10);
+disp(zr,"zeros",pl,"Poles",Kp*10,"Gain(includung system gain)")
+Dcs=poly(zr,'s','roots')/poly(pl,'s','roots')
+disp(Dcs,'Dcs=',"Compensator transfer function")
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.34/Ex7_34.sce b/3432/CH7/EX7.34/Ex7_34.sce
new file mode 100644
index 000000000..2e77ebe9f
--- /dev/null
+++ b/3432/CH7/EX7.34/Ex7_34.sce
@@ -0,0 +1,110 @@
+//Example 7.34
+// Servomechanism, increasing the velocity constant through
+// zero assignment. 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=1;
+den=s*(s+1);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[0 1;0 -1]
+G=[0 1]';
+H=[1 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-2 -2]
+
+// State feedback gain
+exec .\acker_dk.sci;
+K=acker_dk(F,G,Pc)//Gain computed in book is incorrect.
+disp(K,'K=',"State feedback gain")
+//------------------------------------------------------------------
+//Overall transfer function with reduced order estimator.
+Gred=8.32*(0.096+s)/(0.1 +s)/(8 + 4*s+s^2)
+Gred=syslin('c',Gred)
+disp(Gred,'Ys/Rs',"Overall transfer function with reduced...
+ order estimator")
+
+//Compensator
+D=(0.096+s)*(s+1)/(4.08 +s)/(0.0196+s)
+Ds=syslin('c',D*8.32)
+disp(Ds,'Ds=',"Compensator transfer function")
+//------------------------------------------------------------------
+//root locus 
+figure(0)
+evans(D*Gs,100) //Correct root locus
+zoom_rect([-0.2 -0.1 0.1 0.1])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus of lag-lead compensation','fontsize',3);
+//------------------------------------------------------------------
+//Bode plot
+figure(1)
+bode(Ds*Gs,0.01/2/%pi,100/2/%pi,"rad") //Correct root locus
+
+f=gca();
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Frequency response of lag-lead compensation','fontsize',3);
+//------------------------------------------------------------------
+//step response of the system with lag compensation
+t=0:0.1:5;
+ylag=csim('step',t,8.32*Gs*D/(1+8.32*Gs*D));
+figure
+plot(t,ylag,2);
+xlabel('Time (sec)');
+ylabel('y');
+title("Step response of the system with lag compensation",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+//Discrete-time controller
+sysDc_ss=syslin('c',tf2ss(Ds));
+ts=0.1;
+sysDd=dscr(sysDc_ss,ts)
+Gdz=ss2tf(sysDd)
+
+disp(Gdz,"Discrete-time compensator")
+//------------------------------------------------------------------
+//step responses comparision
+importXcosDiagram(".\Ex7_34_model.xcos")
+
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure,
+plot(yt.time,yt.values(:,1),2)
+plot(yt.time,yt.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('y');
+title("Comaprison of step responses for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller",4)
+
+//Control inputs
+figure,
+plot(ut.time,ut.values(:,1),2)
+plot(ut.time,ut.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('u');
+title("Comaprison of control signals for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller")
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.34/Ex7_34_f0.pdf b/3432/CH7/EX7.34/Ex7_34_f0.pdf
new file mode 100644
index 000000000..d7b791b05
--- /dev/null
+++ b/3432/CH7/EX7.34/Ex7_34_f0.pdf
diff --git a/3432/CH7/EX7.34/Ex7_34_f4.pdf b/3432/CH7/EX7.34/Ex7_34_f4.pdf
new file mode 100644
index 000000000..c76fc78a5
--- /dev/null
+++ b/3432/CH7/EX7.34/Ex7_34_f4.pdf
diff --git a/3432/CH7/EX7.34/Ex7_34_model.xcos b/3432/CH7/EX7.34/Ex7_34_model.xcos
new file mode 100644
index 000000000..8ed169a3b
--- /dev/null
+++ b/3432/CH7/EX7.34/Ex7_34_model.xcos
@@ -0,0 +1 @@
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width="8.0" x="-4.0" y="7.0"/></CommandPort><CommandPort dataType="UNKNOW_TYPE" id="-5c6e81bd:14e42b54a0f:-7b31" ordering="2" parent="-5c6e81bd:14e42b54a0f:-7b34" style="CommandPort;align=center;verticalAlign=bottom;spacing=10.0;rotation=90;flip=false;mirror=false" visible="0"><mxGeometry as="geometry" height="8.0" width="8.0" x="-4.0" y="7.0"/></CommandPort><CommandControlLink id="-5c6e81bd:14e42b54a0f:-7b30" parent="-2dd55334:14dcbdd0183:-7fd3" source="-5c6e81bd:14e42b54a0f:-7d01" target="-5c6e81bd:14e42b54a0f:-7b33"><mxGeometry as="geometry"><Array as="points" scilabClass="ScilabList"><mxPoint x="1040.0" y="100.0"/></Array></mxGeometry></CommandControlLink><CommandControlLink id="-5c6e81bd:14e42b54a0f:-7b2f" parent="-2dd55334:14dcbdd0183:-7fd3" source="-5c6e81bd:14e42b54a0f:-7b32" target="-7d9f02e3:14e259a89bd:-65af"><mxGeometry as="geometry"><Array as="points" scilabClass="ScilabList"><mxPoint x="1100.0" y="10.0"/><mxPoint x="780.0" y="10.0"/></Array></mxGeometry></CommandControlLink><CommandControlLink id="-5c6e81bd:14e42b54a0f:-7b35" parent="-2dd55334:14dcbdd0183:-7fd3" source="-5c6e81bd:14e42b54a0f:-7b31" target="-5c6e81bd:14e42b54a0f:-7b2c"><mxGeometry as="geometry"><mxPoint as="sourcePoint" x="830.0" y="210.0"/><mxPoint as="targetPoint" x="1100.0" y="100.0"/><Array as="points" scilabClass="ScilabList"><mxPoint x="1100.0" y="150.0"/><mxPoint x="830.0" y="150.0"/></Array></mxGeometry></CommandControlLink></root></mxGraphModel><mxCell as="defaultParent" id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><mxPoint as="origin" y="-2.0"/></XcosDiagram>
+\ No newline at end of file
diff --git a/3432/CH7/EX7.35/Ex7_35.sce b/3432/CH7/EX7.35/Ex7_35.sce
new file mode 100644
index 000000000..8bf65446b
--- /dev/null
+++ b/3432/CH7/EX7.35/Ex7_35.sce
@@ -0,0 +1,82 @@
+//Example 7.35
+// Integral Control of a Motor Speed System
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+//Transfer function model 
+num=1;
+s=poly(0,'s');
+den=(s+3);
+G=syslin('c',num/den);
+sys=tf2ss(G)
+
+// State space representation of augmented system
+F=[0 1; 0 -3];
+G=[0 1]'
+H=[1 0];
+J=0;
+
+//Desired poles for augmented system
+Pc=[-5 -5]
+
+// State feedback gain is
+K=ppol(F,G,Pc)
+disp(K,'K=')
+
+//Estimator
+Pe=[-10]
+L=ppol(sys.A',sys.C',Pe)
+disp(L','L=')
+
+//------------------------------------------------------------------
+//(c) Compare step reference and disturbance response.
+//step reference response switch r=1 and w=0;
+r=1;w=0;
+importXcosDiagram(".\Ex7_35_model.xcos")
+ //The diagram data structure
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure(0)
+plot(yt.time,yt.values)
+xlabel('time');
+ylabel('y');
+
+figure(1)
+plot(ut.time,ut.values)
+xlabel('time');
+ylabel('y');
+//------------------------------------------------------------------
+// Step disturbance response switch r=0 and w=1;
+w=1;r=0;
+importXcosDiagram(".\Ex7_35_model.xcos")
+ //The diagram data structure
+xcos_simulate(scs_m,4);
+scs_m.props.context
+
+scf(0)
+plot(yt.time,yt.values,'r--')
+xlabel('time');
+ylabel('y');
+title("step Response",'fontsize',3)
+exec .\fig_settings.sci; // custom script for setting figure properties
+legend("y1","y2")
+xset('font size',3);
+xstring(0.9,0.9,"$y_1$");
+xstring(0.25,0.12,"$y_2$");
+
+
+scf(1)
+plot(ut.time,ut.values,'r--')
+xlabel('time');
+ylabel('y');
+title("Control efforts",'fontsize',3)
+exec .\fig_settings.sci; // custom script for setting figure properties
+legend("u1","u2")
+xset('font size',3);
+xstring(0.25,2.5,"$u_1$");
+xstring(1,-1,"$u_2$");
+//------------------------------------------------------------------
+
diff --git a/3432/CH7/EX7.35/Ex7_35_f0.pdf b/3432/CH7/EX7.35/Ex7_35_f0.pdf
new file mode 100644
index 000000000..5bdf20200
--- /dev/null
+++ b/3432/CH7/EX7.35/Ex7_35_f0.pdf
diff --git a/3432/CH7/EX7.35/Ex7_35_f1.pdf b/3432/CH7/EX7.35/Ex7_35_f1.pdf
new file mode 100644
index 000000000..ef112fd12
--- /dev/null
+++ b/3432/CH7/EX7.35/Ex7_35_f1.pdf
diff --git a/3432/CH7/EX7.35/Ex7_35_model.xcos b/3432/CH7/EX7.35/Ex7_35_model.xcos
new file mode 100644
index 000000000..bd27560af
--- /dev/null
+++ b/3432/CH7/EX7.35/Ex7_35_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="5.0" title="Ex7_35_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="1"/><data column="0" line="1" value="3+s"/></ScilabString><ScilabDouble as="realParameters" height="4" width="1"><data column="0" line="0" realPart="-3.0"/><data column="0" line="1" realPart="1.0"/><data column="0" line="2" realPart="1.0"/><data column="0" line="3" realPart="0.0"/></ScilabDouble><ScilabDouble as="integerParameters" height="0" 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+\ No newline at end of file
diff --git a/3432/CH7/EX7.7/Ex7_7.sce b/3432/CH7/EX7.7/Ex7_7.sce
new file mode 100644
index 000000000..71aeae4cb
--- /dev/null
+++ b/3432/CH7/EX7.7/Ex7_7.sce
@@ -0,0 +1,29 @@
+//Example 7.7
+//Analog computer Implementation.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model of the given system
+F=[-6 -11 -6; 1 0 0; 0 1 0];
+G=[6; 0; 0];
+H=[0 0 1];
+J=0;
+sys_ss=syslin('c',F,G,H,J)
+disp(sys_ss)
+//------------------------------------------------------------------
+//Transfer function form
+[d,Ns,Ds]=ss2tf(sys_ss)
+Ns=clean(Ns);
+G=syslin('c',Ns/Ds);
+disp(G)
+//------------------------------------------------------------------
+// convert numerator - denominator to pole - zero form
+//gain (K) pole (P) and zeros (Z) of the system
+temp=polfact(Ns);
+Z=roots(Ns); //locations of zeros
+P=roots(Ds); //locations of poles
+K=temp(1); //first entry is always gain
+disp( K,"Gain", P, "Poles",Z,"Zeros",)
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.8/Ex7_8.sce b/3432/CH7/EX7.8/Ex7_8.sce
new file mode 100644
index 000000000..32d383597
--- /dev/null
+++ b/3432/CH7/EX7.8/Ex7_8.sce
@@ -0,0 +1,21 @@
+//Example 7.8
+//Time scaling an oscillator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model of an oscillator
+wn=15000 // rad/sec
+F=[0 1;wn^2 0];
+G=[0;10^6];
+disp(G,"G",F,"F","Given system");
+
+//------------------------------------------------------------------
+// State space model of the time-scaled system for 
+// a millisecond scale w0=1e3;
+w0=1e3; //rad/sec
+F1=F/w0;
+G1=G/w0;
+disp(G1,"G1",F1,"F1","Time scaled system in mm");
+//------------------------------------------------------------------
diff --git a/3432/CH7/EX7.9/Ex7_9.sce b/3432/CH7/EX7.9/Ex7_9.sce
new file mode 100644
index 000000000..28a048851
--- /dev/null
+++ b/3432/CH7/EX7.9/Ex7_9.sce
@@ -0,0 +1,40 @@
+//Example 7.9
+//State Equations in Modal Canonical Form.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+g1=1/s^2;
+g2=-1/(s^2+2*s+4);
+Gs=g1+g2;
+//------------------------------------------------------------------
+// State space representation in modal canonical form
+sys1=tf2ss(g1);
+sys2=tf2ss(g2);
+[F1,G1,T1]=canon(sys1.A, sys1.B)
+H1=sys1.C*T1;
+
+[F2,G2,T2]=canon(sys2.A, sys2.B)
+H2=sys2.C*T2;
+
+F=[F1 zeros(2,2);zeros(2,2) F2];
+G=[G1;G2];
+H=[H1,H2];
+J=0;
+disp(J,"J",H,"H",G,"G",F,"F","System in modal canonical form")
+//------------------------------------------------------------------
+ //As Y=G*U;  consatnts k1 and k2  are taken out from G1 and G2 will be 
+ //multiplied to H1 and H2 
+
+// So alternately, it can be reprsented as
+k1=-1;k2=-2;
+F=[F1 zeros(2,2);zeros(2,2) F2];
+G=[G1/k1;G2/k2];
+H=[H1*k1,H2*k2];
+J=0;
+disp(J,"J",H,"H",G,"G",F,"F","System in modal canonical form")
+//------------------------------------------------------------------
+
diff --git a/3432/CH8/EX8.1/Ex8_1.sce b/3432/CH8/EX8.1/Ex8_1.sce
new file mode 100644
index 000000000..015f64896
--- /dev/null
+++ b/3432/CH8/EX8.1/Ex8_1.sce
@@ -0,0 +1,56 @@
+///Example 8.1
+// Digital Controller using tustin approximation.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Cntroller
+s=poly(0,'s');
+numD=s/2+1;
+denD=s/10+1;
+D=10*numD/denD;
+Ds=syslin('c',D);
+//sampling freq. = 25 times bandwidth
+Wbw=10;
+Ws=25*Wbw;
+fs=Ws/2/%pi;
+T=1/fs; //sampling time
+a=1;b=-1;
+c=1;d=1;
+//Digital controller
+z=poly(0,'z');
+Dz=horner(Ds,2/T*(a*z+b)/(c*z+d));
+disp(Dz,'Digital Controller : ')
+
+//------------------------------------------------------------------
+//step response and control efforts.
+figure(0);
+importXcosDiagram(".\Ex8_1_model.xcos")
+ //The diagram data structure
+xcos_simulate(scs_m,4);
+scs_m.props.context
+plot(yt.time,yt.values(:,1),'r--')
+plot(yt.time,yt.values(:,2),2)
+
+xlabel('Time (sec.)');
+ylabel('Position, y');
+title(["Comparison between digital and continuous controller step...
+ response";"with a sample rate 25 times bandwidth";"(a) Position "],...
+ 'fontsize',3);
+exec .\fig_settings.sci; // custom script for setting figure properties
+
+//control effort
+
+figure(1);
+plot(ut.time,ut.values(:,1),'r--')
+plot2d2(ut.time,ut.values(:,2),2)
+
+xlabel('Time (sec.)');
+ylabel('Control, u');
+title(["Comparison between digital and continuous controller step...
+ response";"with a sample rate 25 times bandwidth";"(b) Control "],...
+ 'fontsize',3);
+exec .\fig_settings.sci; // custom script for setting figure properties
+//------------------------------------------------------------------
+
diff --git a/3432/CH8/EX8.1/Ex8_1_f0.pdf b/3432/CH8/EX8.1/Ex8_1_f0.pdf
new file mode 100644
index 000000000..18b813926
--- /dev/null
+++ b/3432/CH8/EX8.1/Ex8_1_f0.pdf
diff --git a/3432/CH8/EX8.1/Ex8_1_f1.pdf b/3432/CH8/EX8.1/Ex8_1_f1.pdf
new file mode 100644
index 000000000..ab9cb8c82
--- /dev/null
+++ b/3432/CH8/EX8.1/Ex8_1_f1.pdf
diff --git a/3432/CH8/EX8.1/Ex8_1_model.xcos b/3432/CH8/EX8.1/Ex8_1_model.xcos
new file mode 100644
index 000000000..258e4be83
--- /dev/null
+++ b/3432/CH8/EX8.1/Ex8_1_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="2.0" title="Ex8_1_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="1"/><data column="0" line="1" value="s*(1+s)"/></ScilabString><ScilabDouble as="realParameters" height="9" width="1"><data column="0" line="0" realPart="0.0"/><data column="0" line="1" realPart="-0.0"/><data column="0" line="2" realPart="1.0"/><data column="0" line="3" realPart="-1.0"/><data column="0" line="4" realPart="0.0"/><data column="0" line="5" 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+\ No newline at end of file
diff --git a/3432/CH8/EX8.2/Ex8_2.sce b/3432/CH8/EX8.2/Ex8_2.sce
new file mode 100644
index 000000000..d5b21520e
--- /dev/null
+++ b/3432/CH8/EX8.2/Ex8_2.sce
@@ -0,0 +1,65 @@
+//Example 8.2
+// Design of a Space Station Attitude Digital Controller using
+// Discrete Equivalents
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space representation of continuous time system
+s=poly(0,'s');
+num=1;
+den=(s^2);
+Gs=syslin('c',num/den);
+Ds=0.81*(s+0.2)/(s+2);
+Ds=syslin('c',Ds);
+sysc=Gs*Ds;
+
+//Root locus
+evans(sysc)
+zoom_rect([-2 -0.4 0.5 0.4])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+h=legend('');
+h.visible = "off"
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('s-plane locus with respect to K','fontsize',3)
+//------------------------------------------------------------------
+//Contonuous time response of the system
+figure,
+tc=0:0.1:30;
+syscl=sysc/(1+sysc)
+yc=csim("step",tc,syscl);
+plot(tc,yc,'b')
+//------------------------------------------------------------------
+// Discretization of the system at
+z=poly(0,'z')
+// sampling time Ts=1 sec
+Ts=1;
+Dz1=horner(Ds,2/Ts*(z-1)/(z+1))
+disp(Dz1,"Dz1=","Discrete-time controller with Ts=1 sec.")
+
+// sampling time Ts=0.5 sec
+Ts2=0.5;
+Dz2=horner(Ds,2/Ts2*(z-1)/(z+1))
+disp(Dz2,"Dz2=","Discrete-time controller with Ts=0.5 sec.")
+
+//discrete-time response of the system.
+
+importXcosDiagram(".\Ex8_2_model.xcos")
+ //The diagram data structure
+xcos_simulate(scs_m,4);
+//scs_m.props.context
+plot(yt1.time,yt1.values,'m-.') //with Ts=1sec.
+plot(yt2.time,yt2.values,'r--') //with Ts=0.5 sec.
+//------------------------------------------------------------------------------
+
+title('step responses of continous and digital implementations','fontsize',3)
+
+exec .\fig_settings.sci; // custom script for setting figure properties
+xlabel('Time (sec)','fontsize',2)
+ylabel('Plant output','fontsize',2)
+legend("Continuous design","Discrete equivalent design, T=1 sec."...
+,"Discrete equivalent design, T=0.5 sec.",4)
+//------------------------------------------------------------------------------
diff --git a/3432/CH8/EX8.2/Ex8_2_f0.pdf b/3432/CH8/EX8.2/Ex8_2_f0.pdf
new file mode 100644
index 000000000..58a1e2d85
--- /dev/null
+++ b/3432/CH8/EX8.2/Ex8_2_f0.pdf
diff --git a/3432/CH8/EX8.2/Ex8_2_f1.pdf b/3432/CH8/EX8.2/Ex8_2_f1.pdf
new file mode 100644
index 000000000..614471a7f
--- /dev/null
+++ b/3432/CH8/EX8.2/Ex8_2_f1.pdf
diff --git a/3432/CH8/EX8.2/Ex8_2_model.xcos b/3432/CH8/EX8.2/Ex8_2_model.xcos
new file mode 100644
index 000000000..ec561ed0c
--- /dev/null
+++ b/3432/CH8/EX8.2/Ex8_2_model.xcos
@@ -0,0 +1 @@
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+\ No newline at end of file
diff --git a/3432/CH9/EX9.11/Ex9_11.sce b/3432/CH9/EX9.11/Ex9_11.sce
new file mode 100644
index 000000000..cbb897559
--- /dev/null
+++ b/3432/CH9/EX9.11/Ex9_11.sce
@@ -0,0 +1,60 @@
+//Example 9.11
+//Describing Function for a relay with hysteresis nonlinearity.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Response of the saturation noninearity to sinusoidal input
+figure;
+importXcosDiagram(".\Ex9_11_model.xcos")
+xcos_simulate(scs_m,4);
+scs_m.props.context
+plot(yt.time,yt.values(:,1),'r--')
+plot(yt.time,yt.values(:,2),'b')
+
+xlabel('Time (sec.)');
+ylabel('Amplitude');
+title("Relay with hysteresis nonlinearity output to sinusoidal...
+ input",'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+zoom_rect([0 -1.2 5 1.2])
+//------------------------------------------------------------------
+////Describing Functin for relay with hysteresis nonlinearity.
+h=0.1;
+N=1;
+i=1;
+
+for a=0.1:0.025:1
+    if a<h then
+        Keq(i,1)=0;
+        ro(i,1)=0;
+        theta(i,1)=0
+    else
+        Keq(i,1)=4*N/(%pi*a)*(sqrt(1-(h/a)^2)-%i*h/a)
+        [r th]=polar(Keq(i,1));
+        ro(i,1)=r; //magnitude
+        theta(i,1)=clean(th); //angle in radians
+    end
+    i=i+1;
+end
+
+a=0.1:0.025:1
+a=a';
+figure,
+
+subplot(2,1,1), plot(a,ro)
+xlabel('$a$');
+ylabel(['Magnitude', '$|K_{eq}|$']);
+
+xset('font size',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+title("Describing Functin for relay with hysteresis nonlinearity...
+ with h=0.1 and N=1",'fontsize',3);
+
+subplot(2,1,2), plot(a,theta*180/%pi)
+xlabel('$a$');
+ylabel(['Phase', '$ \angle K_{eq}$','deg.']);
+xset('font size',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
diff --git a/3432/CH9/EX9.11/Ex9_11_f0.pdf b/3432/CH9/EX9.11/Ex9_11_f0.pdf
new file mode 100644
index 000000000..e1df85c5c
--- /dev/null
+++ b/3432/CH9/EX9.11/Ex9_11_f0.pdf
diff --git a/3432/CH9/EX9.11/Ex9_11_f1.pdf b/3432/CH9/EX9.11/Ex9_11_f1.pdf
new file mode 100644
index 000000000..ab8ab58c7
--- /dev/null
+++ b/3432/CH9/EX9.11/Ex9_11_f1.pdf
diff --git a/3432/CH9/EX9.11/Ex9_11_model.xcos b/3432/CH9/EX9.11/Ex9_11_model.xcos
new file mode 100644
index 000000000..3fca2a069
--- /dev/null
+++ b/3432/CH9/EX9.11/Ex9_11_model.xcos
@@ -0,0 +1 @@
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as="geometry"><mxPoint as="sourcePoint" x="160.0" y="200.0"/><mxPoint as="targetPoint" x="120.0" y="200.0"/></mxGeometry></ExplicitLink><ExplicitLink id="2b826298:14e1fda5c1e:-7ec6" parent="-2dd55334:14dcbdd0183:-7fd3" source="11757ea3:14e1f326925:-693a" target="11757ea3:14e1f326925:-69cf"><mxGeometry as="geometry"><Array as="points" scilabClass="ScilabList"><mxPoint x="290.0" y="190.0"/></Array></mxGeometry></ExplicitLink><CommandControlLink id="2b826298:14e1fda5c1e:-7ec5" parent="-2dd55334:14dcbdd0183:-7fd3" source="-2dd55334:14dcbdd0183:-7d27" target="11757ea3:14e1f326925:-69ce"><mxGeometry as="geometry"><Array as="points" scilabClass="ScilabList"><mxPoint x="370.0" y="130.0"/><mxPoint x="370.0" y="150.0"/></Array></mxGeometry></CommandControlLink></root></mxGraphModel><mxCell as="defaultParent" id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/></XcosDiagram>
+\ No newline at end of file
diff --git a/3432/CH9/EX9.12/Ex9_12.sce b/3432/CH9/EX9.12/Ex9_12.sce
new file mode 100644
index 000000000..2457c730d
--- /dev/null
+++ b/3432/CH9/EX9.12/Ex9_12.sce
@@ -0,0 +1,75 @@
+//Example 9.12
+//Conditionally stable system.
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+num=0.1;
+den=(s^2+0.2*s+1)*(s);
+Gs=syslin('c',num/den)
+
+//Nyquist plot of the system
+nyquist(Gs,0.035,10)
+title("Nyquist plot and describing function to determine limit...
+ cycle",'fontsize',3);
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+h=legend('');
+h.visible = "off"
+xset("color",2);
+
+// Nyquist Plot of Describing Function for saturation nonlinearity. 
+omegat=0.05:0.05:%pi;
+a=sin(omegat);
+N=0.1;
+k=1; 
+
+Keq=2/%pi*(k*asin(N ./a /k)+N ./a .* sqrt(1-(N/k ./a) .^2));
+DF_nyq=-1 ./Keq; 
+
+plot(DF_nyq,zeros(1,length(DF_nyq)),'m-.')
+exec .\fig_settings.sci; //custom script for setting figure properties
+zoom_rect([-0.8 -0.5 0.2 0.5])
+
+//limit cycle points
+plot(-0.5,0,'bo');
+
+xset('font size',3)
+xstring(-0.78,0.08,"limit cycle point");
+xarrows([-0.6;-0.52],[0.1;0.02],-1)
+xstring(-0.62,-0.22,"$-\frac{1}{K_{eq}$");
+xarrows([-0.55;-0.55],[-0.1;0],-1)
+//------------------------------------------------------------------
+//Describing Functin for saturation nonlinearity.
+Keq=[]
+i=1;
+
+for a=0:0.2:10
+    if k*a/N > 1 then
+    Keq(i,1)=2/%pi*(k*asin(N/a/k)+N/a*sqrt(1-(N/k/a)^2))
+    else
+    Keq(i,1)=k
+    end
+    i=i+1;
+end
+
+a=0:0.2:10;
+a=a';
+
+figure,
+plot(a,Keq)
+xlabel('$a$');
+ylabel('$K_{eq}$');
+
+xset('font size',3);
+title("Describing Function for a saturation nonlinearity...
+ with N=0.1 and k=1",'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+zoom_rect([0 0 10 1.1])
+//------------------------------------------------------------------
+
diff --git a/3432/CH9/EX9.12/Ex9_12_f0.pdf b/3432/CH9/EX9.12/Ex9_12_f0.pdf
new file mode 100644
index 000000000..dfc320ed0
--- /dev/null
+++ b/3432/CH9/EX9.12/Ex9_12_f0.pdf
diff --git a/3432/CH9/EX9.12/Ex9_12_f1.pdf b/3432/CH9/EX9.12/Ex9_12_f1.pdf
new file mode 100644
index 000000000..465e69327
--- /dev/null
+++ b/3432/CH9/EX9.12/Ex9_12_f1.pdf
diff --git a/3432/CH9/EX9.13/Ex9_13.sce b/3432/CH9/EX9.13/Ex9_13.sce
new file mode 100644
index 000000000..8857fc7be
--- /dev/null
+++ b/3432/CH9/EX9.13/Ex9_13.sce
@@ -0,0 +1,54 @@
+//Example 9.13
+//Determination of stability with a hysteresis nonlinearity.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System Model
+s=poly(0,'s');
+num=1;
+den=(s^2+s);
+Gs=syslin('c',num/den);
+//------------------------------------------------------------------
+//Nyquist Plot of the system
+nyquist(Gs,0.25,3)    
+
+// Nyquist Plot of Describing Function for hysteresis nonlinearity
+N=1;
+h=0.1; 
+i=1;
+
+for omegat=0:0.05:%pi-0.1;
+    a=sin(omegat);
+    DF_nyq(i,1)=-%pi/4/N*(sqrt(a^2-h^2) + h * %i)
+    i=i+1;
+end
+
+plot(real(DF_nyq),imag(DF_nyq),'m-.')
+exec .\fig_settings.sci; // custom script for setting figure properties
+zoom_rect([-0.3  -0.3 0 0.3])
+title('Nyquist plot of system and describing function to...
+ determine limit cycle','fontsize',3)
+
+//limit cycle points
+plot(-0.1714,-0.0785,'ro');
+xstring(-0.25,0,"limit cycle point");
+xarrows([-0.2;-0.172],[0;-0.077],-1);
+
+//------------------------------------------------------------------
+//Response of the system
+K=2;
+r=1
+figure(1);
+importXcosDiagram(".\Ex9_13_model.xcos")
+xcos_simulate(scs_m,4);
+scs_m.props.context
+plot(yt.time,yt.values)
+
+xlabel('Time (sec.)');
+ylabel('Output, y');
+title("Step response displaying limit cycle oscillations",'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+
diff --git a/3432/CH9/EX9.13/Ex9_13_f0.pdf b/3432/CH9/EX9.13/Ex9_13_f0.pdf
new file mode 100644
index 000000000..ee72b27bd
--- /dev/null
+++ b/3432/CH9/EX9.13/Ex9_13_f0.pdf
diff --git a/3432/CH9/EX9.13/Ex9_13_f1.pdf b/3432/CH9/EX9.13/Ex9_13_f1.pdf
new file mode 100644
index 000000000..8fe98147c
--- /dev/null
+++ b/3432/CH9/EX9.13/Ex9_13_f1.pdf
diff --git a/3432/CH9/EX9.13/Ex9_13_model.xcos b/3432/CH9/EX9.13/Ex9_13_model.xcos
new file mode 100644
index 000000000..a6cfe91a0
--- /dev/null
+++ b/3432/CH9/EX9.13/Ex9_13_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="50.0" title="Ex9_13_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="1"/><data column="0" line="1" value="s^2+s"/></ScilabString><ScilabDouble as="realParameters" height="9" width="1"><data column="0" line="0" realPart="0.0"/><data column="0" line="1" realPart="-0.0"/><data column="0" line="2" realPart="1.0"/><data column="0" line="3" realPart="-1.0"/><data column="0" line="4" realPart="0.0"/><data column="0" line="5" 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y="200.0"/></Array></mxGeometry></ExplicitLink><ExplicitLink id="-4982527b:14e23f46651:-7cf9" parent="-2dd55334:14dcbdd0183:-7fd3" source="-4982527b:14e23f46651:-7d80" target="-4982527b:14e23f46651:-7d69"><mxGeometry as="geometry"><Array as="points" scilabClass="ScilabList"><mxPoint x="500.0" y="190.0"/></Array></mxGeometry></ExplicitLink><CommandControlLink id="-4982527b:14e23f46651:-7cf8" parent="-2dd55334:14dcbdd0183:-7fd3" source="-2dd55334:14dcbdd0183:-7d27" target="11757ea3:14e1f326925:-741b"><mxGeometry as="geometry"><Array as="points" scilabClass="ScilabList"><mxPoint x="590.0" y="84.0"/><mxPoint x="590.0" y="90.0"/><mxPoint x="590.0" y="104.0"/></Array></mxGeometry></CommandControlLink></root></mxGraphModel><mxCell as="defaultParent" id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/></XcosDiagram>
+\ No newline at end of file
diff --git a/3432/CH9/EX9.5/Ex9_5.sce b/3432/CH9/EX9.5/Ex9_5.sce
new file mode 100644
index 000000000..327b8ced4
--- /dev/null
+++ b/3432/CH9/EX9.5/Ex9_5.sce
@@ -0,0 +1,50 @@
+//Example 9.5
+//Changing Overshoot and Saturation nonlinearity.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+num=(s+1)
+den=(s^2);
+Gs=syslin('c',num/den)
+
+//Root locus
+evans(Gs,5)
+title(["Root locus of", "$(s+1)/(s^2)$","with saturation removed"],...
+'fontsize',3);
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+h=legend('');
+h.visible = "off"
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+// Step response
+K=1;
+i=[2 4 6 8 10 12];
+figure(1);
+importXcosDiagram(".\Ex9_5_model.xcos")
+
+for r=i
+xcos_simulate(scs_m,4);
+scs_m.props.context
+plot(yt.time,yt.values)
+end
+
+xlabel('time');
+ylabel('y');
+title("Step response of the system for various input sizes",'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+
+xset('font size',3);
+xstring(4,2.5,"$r=2$");
+xstring(6,5.5,"$4$");
+xstring(8,8.7,"$6$");
+xstring(10,12.2,"$8$");
+xstring(12,15.4,"$10$");
+xstring(14,18.4,"$12$");
+//------------------------------------------------------------------
diff --git a/3432/CH9/EX9.5/Ex9_5_f0.pdf b/3432/CH9/EX9.5/Ex9_5_f0.pdf
new file mode 100644
index 000000000..c385950a3
--- /dev/null
+++ b/3432/CH9/EX9.5/Ex9_5_f0.pdf
diff --git a/3432/CH9/EX9.5/Ex9_5_f1.pdf b/3432/CH9/EX9.5/Ex9_5_f1.pdf
new file mode 100644
index 000000000..4bf4aea0b
--- /dev/null
+++ b/3432/CH9/EX9.5/Ex9_5_f1.pdf
diff --git a/3432/CH9/EX9.5/Ex9_5_model.xcos b/3432/CH9/EX9.5/Ex9_5_model.xcos
new file mode 100644
index 000000000..ee8ba7b01
--- /dev/null
+++ b/3432/CH9/EX9.5/Ex9_5_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="30.0" title="Ex9_5_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="s+1"/><data column="0" line="1" value="s^2"/></ScilabString><ScilabDouble as="realParameters" height="9" width="1"><data column="0" line="0" realPart="0.0"/><data column="0" line="1" realPart="-0.0"/><data column="0" line="2" realPart="1.0"/><data column="0" line="3" realPart="-0.0"/><data column="0" line="4" realPart="0.0"/><data column="0" line="5" 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scilabClass="ScilabList"><mxPoint x="270.0" y="190.0"/></Array></mxGeometry></ExplicitLink><CommandControlLink id="-76454188:14e1ef4db88:-70b6" parent="-2dd55334:14dcbdd0183:-7fd3" source="-76454188:14e1ef4db88:-7510" target="-76454188:14e1ef4db88:-74f0"><mxGeometry as="geometry"><Array as="points" scilabClass="ScilabList"><mxPoint x="450.0" y="80.0"/><mxPoint x="410.0" y="80.0"/></Array></mxGeometry></CommandControlLink></root></mxGraphModel><mxCell as="defaultParent" id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/></XcosDiagram>
+\ No newline at end of file
diff --git a/3432/CH9/EX9.6/Ex9_6.sce b/3432/CH9/EX9.6/Ex9_6.sce
new file mode 100644
index 000000000..4e30f74c5
--- /dev/null
+++ b/3432/CH9/EX9.6/Ex9_6.sce
@@ -0,0 +1,47 @@
+//Example 9.6
+//Stability of conditionally stable system using root locus.
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+num=(s+1)^2
+den=(s^3);
+Gs=syslin('c',num/den)
+//Root locus
+evans(Gs,7)
+title(["Root locus for", "$(s+1)^2/(s^3)$","for system"],...
+'fontsize',3);
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+h=legend('');
+h.visible = "off"
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+//Response of the system
+K=2;
+i=[1 2 3 3.475];
+figure(1);
+
+importXcosDiagram(".\Ex9_6_model.xcos")
+
+for r=i
+xcos_simulate(scs_m,4);
+scs_m.props.context
+plot(yt.time,yt.values)
+end
+
+xlabel('Time (sec.)');
+ylabel('Amplitude');
+title("Step response of the system",'fontsize',3);
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+xset('font size',3);
+xstring(3,6.5,"$r=3.475$");
+xstring(2.5,5.2,"$3$");
+xstring(2,3,"$2$");
+xstring(1,1.4,"$1$");
+//------------------------------------------------------------------
diff --git a/3432/CH9/EX9.6/Ex9_6_f0.pdf b/3432/CH9/EX9.6/Ex9_6_f0.pdf
new file mode 100644
index 000000000..3e16ef4a3
--- /dev/null
+++ b/3432/CH9/EX9.6/Ex9_6_f0.pdf
diff --git a/3432/CH9/EX9.6/Ex9_6_f1.pdf b/3432/CH9/EX9.6/Ex9_6_f1.pdf
new file mode 100644
index 000000000..b2bd90d44
--- /dev/null
+++ b/3432/CH9/EX9.6/Ex9_6_f1.pdf
diff --git a/3432/CH9/EX9.6/Ex9_6_model.xcos b/3432/CH9/EX9.6/Ex9_6_model.xcos
new file mode 100644
index 000000000..51108cd4a
--- /dev/null
+++ b/3432/CH9/EX9.6/Ex9_6_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="20.0" title="Ex9_6_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="(s+1)^2"/><data column="0" line="1" value="s^3"/></ScilabString><ScilabDouble as="realParameters" height="16" width="1"><data column="0" line="0" realPart="0.0"/><data column="0" line="1" realPart="0.0"/><data column="0" line="2" realPart="-0.0"/><data column="0" line="3" realPart="1.0"/><data column="0" line="4" realPart="0.0"/><data column="0" line="5" 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x="540.0" y="80.0"/><mxPoint x="540.0" y="100.0"/></Array></mxGeometry></CommandControlLink></root></mxGraphModel><mxCell as="defaultParent" id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/></XcosDiagram>
+\ No newline at end of file
diff --git a/3432/CH9/EX9.7/Ex9_7.sce b/3432/CH9/EX9.7/Ex9_7.sce
new file mode 100644
index 000000000..cfe5028dc
--- /dev/null
+++ b/3432/CH9/EX9.7/Ex9_7.sce
@@ -0,0 +1,84 @@
+//Example 9.7
+//Analysis and design of the system with limit cycle using the root locus. 
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+num=0.1;
+den=(s^2+0.2*s+1)*(s);
+Gs=syslin('c',num/den);
+
+//Root locus
+evans(Gs,40)
+title(["Root locus of", "$(0.1/s(s^2+0.2*s+1)$"],'fontsize',3);
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+h=legend('');
+h.visible = "off"
+exec .\fig_settings.sci; // custom script for setting figure properties
+//------------------------------------------------------------------
+//Response of the system
+figure;
+//Response of the system
+K=0.5;
+i=[1 4 8];
+importXcosDiagram(".\Ex9_7_model.xcos")
+
+for r=i
+xcos_simulate(scs_m,4);
+scs_m.props.context
+plot(yt.time,yt.values)
+end
+
+xlabel('Time (sec.)');
+ylabel('Amplitude');
+title("Step response of the system",'fontsize',3);
+exec .\fig_settings.sci; // custom script for setting figure properties
+zoom_rect([0 0 150 9])
+
+xset('font size',3);
+xstring(80,1.6,"$r=1$");
+xstring(80,4.6,"$r=4$");
+xstring(80,8.2,"$r=8$");
+//------------------------------------------------------------------
+//System with notch compensation
+D=123*(s^2+0.18*s+0.81)/(s+10)^2;
+
+//Root locus
+figure,
+evans(Gs*D,40)
+title(["Root locus including notch compensation"],'fontsize',3);
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+h=legend('');
+h.visible = "off"
+exec .\fig_settings.sci; //custom script for setting figure properties
+zoom_rect([-14 -2 2 2])
+//------------------------------------------------------------------
+//Response of the system witth notch filter
+figure;
+K=0.5;
+i=[2 4];
+importXcosDiagram(".\Ex9_7_model_notch.xcos")
+
+for r=i
+xcos_simulate(scs_m,4);
+scs_m.props.context
+plot(yt.time,yt.values)
+end
+
+xlabel('Time (sec.)');
+ylabel('Amplitude');
+title("Step response of the system with notch filter",'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+xset('font size',3);
+xstring(30,2.2,"$r=2$");
+xstring(34,3.75,"$r=4$");
+//------------------------------------------------------------------
+
+
diff --git a/3432/CH9/EX9.7/Ex9_7_f1.pdf b/3432/CH9/EX9.7/Ex9_7_f1.pdf
new file mode 100644
index 000000000..c797e3271
--- /dev/null
+++ b/3432/CH9/EX9.7/Ex9_7_f1.pdf
diff --git a/3432/CH9/EX9.7/Ex9_7_f3.pdf b/3432/CH9/EX9.7/Ex9_7_f3.pdf
new file mode 100644
index 000000000..28b108e20
--- /dev/null
+++ b/3432/CH9/EX9.7/Ex9_7_f3.pdf
diff --git a/3432/CH9/EX9.7/Ex9_7_model.xcos b/3432/CH9/EX9.7/Ex9_7_model.xcos
new file mode 100644
index 000000000..475e6ce92
--- /dev/null
+++ b/3432/CH9/EX9.7/Ex9_7_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="150.0" title="Ex9_7_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="1"/><data column="0" line="1" value="s^2+0.2*s+1"/></ScilabString><ScilabDouble as="realParameters" height="9" width="1"><data column="0" line="0" realPart="0.0"/><data column="0" line="1" realPart="-1.0"/><data column="0" line="2" realPart="1.0"/><data column="0" line="3" realPart="-0.2"/><data column="0" line="4" realPart="0.0"/><data column="0" line="5" 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+\ No newline at end of file
diff --git a/3432/CH9/EX9.7/Ex9_7_model_notch.xcos b/3432/CH9/EX9.7/Ex9_7_model_notch.xcos
new file mode 100644
index 000000000..898f032ef
--- /dev/null
+++ b/3432/CH9/EX9.7/Ex9_7_model_notch.xcos
@@ -0,0 +1 @@
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as="defaultParent" id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/></XcosDiagram>
+\ No newline at end of file
diff --git a/3432/CH9/EX9.8/Ex9_8.sce b/3432/CH9/EX9.8/Ex9_8.sce
new file mode 100644
index 000000000..159d2c456
--- /dev/null
+++ b/3432/CH9/EX9.8/Ex9_8.sce
@@ -0,0 +1,44 @@
+//Example 9.8
+//Antiwindup compensation for a PI controller.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System Model
+
+//Response of the system
+kp=2;
+ki=4;
+
+//Without antiwindup
+ka=0;
+importXcosDiagram(".\Ex9_8_model.xcos")
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure(0)
+plot(yt.time,yt.values,'m-.')
+figure(1)
+plot(ut.time,ut.values,'m-.')
+
+//With antiwindup
+ka=10;
+xcos_simulate(scs_m,4);
+scf(0)
+plot(yt.time,yt.values)
+exec .\fig_settings.sci; // custom script for setting figure properties
+xlabel('Time (sec.)');
+ylabel('Output');
+title("Integrator antiwindup (a) step response.",'fontsize',3);
+
+
+scf(1)
+plot(ut.time,ut.values);
+exec .\fig_settings.sci; // custom script for setting figure properties
+xlabel('Time (sec.)');
+ylabel('Control');
+title("Integrator antiwindup (b) Control effort.",'fontsize',3);
+zoom_rect([0 -1.2 10 1.2])
+
+//------------------------------------------------------------------
+
diff --git a/3432/CH9/EX9.8/Ex9_8_f0.pdf b/3432/CH9/EX9.8/Ex9_8_f0.pdf
new file mode 100644
index 000000000..d60a27a89
--- /dev/null
+++ b/3432/CH9/EX9.8/Ex9_8_f0.pdf
diff --git a/3432/CH9/EX9.8/Ex9_8_f1.pdf b/3432/CH9/EX9.8/Ex9_8_f1.pdf
new file mode 100644
index 000000000..0b10f8839
--- /dev/null
+++ b/3432/CH9/EX9.8/Ex9_8_f1.pdf
diff --git a/3432/CH9/EX9.8/Ex9_8_model.xcos b/3432/CH9/EX9.8/Ex9_8_model.xcos
new file mode 100644
index 000000000..19ac5dd1e
--- /dev/null
+++ b/3432/CH9/EX9.8/Ex9_8_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="10.0" title="Ex9_8_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="1"/><data column="0" line="1" value="s"/></ScilabString><ScilabDouble as="realParameters" height="4" width="1"><data column="0" line="0" realPart="-0.0"/><data column="0" line="1" realPart="1.0"/><data column="0" line="2" realPart="1.0"/><data column="0" line="3" realPart="0.0"/></ScilabDouble><ScilabDouble as="integerParameters" height="0" width="0"/><Array 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+\ No newline at end of file
diff --git a/3432/CH9/EX9.9/Ex9_9.sce b/3432/CH9/EX9.9/Ex9_9.sce
new file mode 100644
index 000000000..977c213cc
--- /dev/null
+++ b/3432/CH9/EX9.9/Ex9_9.sce
@@ -0,0 +1,49 @@
+//Example 9.9
+//Describing Function for a saturation nonlinearity.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Response of the saturation nonlinearity to sinusoidal input
+figure;
+importXcosDiagram(".\Ex9_9_model.xcos")
+xcos_simulate(scs_m,4);
+scs_m.props.context
+plot(yt.time,yt.values(:,1),'r--')
+plot(yt.time,yt.values(:,2),'b')
+
+xlabel('Time (sec.)');
+ylabel('Amplitude');
+title("Saturation nonlinearity output to sinusoidal input",...
+'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+//Describing Functin for saturation nonlinearity.
+k=1;
+N=1;
+i=1;
+Keq=[];
+
+for a=0:0.2:10
+    if k*a/N > 1 then
+    Keq(i,1)=2/%pi*(k*asin(N/a/k)+N/a*sqrt(1-(N/k/a)^2))
+    else
+    Keq(i,1)=k
+    end
+    i=i+1;
+end
+
+a=0:0.2:10;
+a=a';
+figure,
+plot(a,Keq)
+xlabel('$a$');
+ylabel('$K_{eq}}$');
+
+xset('font size',3);
+title("Describing Function for a saturation nonlinearity...
+ with k=N=1",'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+zoom_rect([0 0 10 1.1])
+//------------------------------------------------------------------
diff --git a/3432/CH9/EX9.9/Ex9_9_f0.pdf b/3432/CH9/EX9.9/Ex9_9_f0.pdf
new file mode 100644
index 000000000..1e81c3f5c
--- /dev/null
+++ b/3432/CH9/EX9.9/Ex9_9_f0.pdf
diff --git a/3432/CH9/EX9.9/Ex9_9_f1.pdf b/3432/CH9/EX9.9/Ex9_9_f1.pdf
new file mode 100644
index 000000000..2b7500dea
--- /dev/null
+++ b/3432/CH9/EX9.9/Ex9_9_f1.pdf
diff --git a/3432/CH9/EX9.9/Ex9_9_model.xcos b/3432/CH9/EX9.9/Ex9_9_model.xcos
new file mode 100644
index 000000000..a89bfe757
--- /dev/null
+++ b/3432/CH9/EX9.9/Ex9_9_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="5.0" title="Ex9_9_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock blockType="h" id="-2dd55334:14dcbdd0183:-7e6e" interfaceFunctionName="CLOCK_c" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csuper" simulationFunctionType="DEFAULT" style="CLOCK_c;flip=false;mirror=false"><ScilabDouble as="exprs" height="0" width="0"/><Array as="realParameters" scilabClass="ScilabMList"><ScilabString height="1" width="5"><data column="0" line="0" value="diagram"/><data column="1" line="0" value="props"/><data column="2" line="0" value="objs"/><data column="3" line="0" value="version"/><data column="4" line="0" value="contrib"/></ScilabString><Array scilabClass="ScilabTList"><ScilabString height="1" width="11"><data 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+\ No newline at end of file
diff --git a/3432/DEPENDENCIES/acker_dk.sci b/3432/DEPENDENCIES/acker_dk.sci
new file mode 100644
index 000000000..3391d2454
--- /dev/null
+++ b/3432/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/3432/DEPENDENCIES/fig_settings.sci b/3432/DEPENDENCIES/fig_settings.sci
new file mode 100644
index 000000000..5d5e7d435
--- /dev/null
+++ b/3432/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/3432/DEPENDENCIES/zpk_dk.sci b/3432/DEPENDENCIES/zpk_dk.sci
new file mode 100644
index 000000000..95b4e6c13
--- /dev/null
+++ b/3432/DEPENDENCIES/zpk_dk.sci
@@ -0,0 +1,43 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//p=zpk_dk(sl)
+//[p, z]=zpk_dk(sl)
+//[p, z, k]=zpk_dk(sl)
+//p:- Poles of the system
+//z:- zeros of the system
+//k:- DC gain of the system
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function[pl,zr,k]=zpk_dk(sysmodel)
+    [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+     disp(["p=zpk_dk(sl)";"[p, z]=zpk_dk(sl)";"[p, z, k]=zpk_dk(sl)"]);
+     disp(["p:- Poles of the system";"z:- zeros of the system"]);
+     disp("k:- DC gain of the system");
+     return;
+    end
+    
+    if typeof(sysmodel)=="rational" then
+        sys=tf2ss(sysmodel);
+        pl=spec(sys.A);
+        zr=trzeros(sys);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=sysmodel/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D;
+    elseif typeof(sysmodel)=="state-space" then
+        pl=spec(sysmodel.A);
+        zr=trzeros(sysmodel);
+        g=ss2tf(sysmodel);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=g/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D
+    else
+        error("Wrong type of input argument.")
+    end 
+endfunction
author	prashantsinalkar	2017-10-10 12:27:19 +0530
committer	prashantsinalkar	2017-10-10 12:27:19 +0530
commit	7f60ea012dd2524dae921a2a35adbf7ef21f2bb6 (patch)
tree	dbb9e3ddb5fc829e7c5c7e6be99b2c4ba356132c /3432
parent	b1f5c3f8d6671b4331cef1dcebdf63b7a43a3a2b (diff)
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