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+// PID tuning through GMVC law, as discussed in Example 11.11.
+// 11.15
+
+exec('gmvc_pid.sci',-1);
+exec('zpowk.sci',-1);
+exec('ch_pol.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+exec('filtval.sci',-1);
+exec('polyno.sci',-1);
+
+// GMVC PID tuning of example given by Miller et al.
+// Model
+A = [1 -1.95 0.935]; B = -0.015; k = 1; Ts = 1;
+
+// Transient specifications
+N = 15; epsilon = 0.1;
+T = ch_pol(N,epsilon);
+
+// Controller Design
+[Kc,tau_i,tau_d,L] = gmvc_pid(A,B,k,T,Ts);
+L1 = filtval(L,1);
+zk = zpowk(k);
+
+