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+// Pole placement controller for motor problem, discussed in Example 9.10 on page 343.
+// 9.11
+
+exec('desired.sci',-1);
+exec('pp_im.sci',-1);
+exec('myc2d.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('polsplit3.sci',-1);
+exec('zpowk.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('polyno.sci',-1);
+
+// Motor control problem
+// Transfer function
+a1 = [-1 0; 1 0]; b1 = [1; 0]; c1 = [0 1]; d1 = 0;
+G = syslin('c',a1,b1,c1,d1); Ts = 0.25;
+[B,A,k] = myc2d(G,Ts);
+
+// Transient specifications
+rise = 3; epsilon = 0.05; 
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+Delta = 1; // No internal model of step used
+[Rc,Sc,Tc,gamm] = pp_im(B,A,k,phi,Delta);
+
+// simulation parameters for c_ss_cl.xcos
+st = 1;  //desired change in position
+t_init = 0;  //simulation start time
+t_final = 10;  //simulation end time
+xInitial = [0 0];  //initial conditions
+N = 1; C = 0; D = 1; N_var = 0;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Np,Rcp] = cosfil_ip(N,Rc); // 1/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
+
+