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+clc
+//Chapter 9:Stability Analysis
+//example 8.6 page no 373
+//given
+zeta=0.8//damping ratio
+B=10^3//closed loop bandwidth
+X=sqrt(1+2*zeta^2+sqrt(2+4*zeta^2+4*zeta^4))
+Ka=(B/X)^2//loop gain
+wn=sqrt(Ka)//
+wz=wn/(2*zeta)//the system zero
+mprintf('the closed loop gain is %3.2e (rad/s)^2 \n wn = %f rad/s \n the system has zero at %d rad/s',Ka,wn,wz)
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