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diff --git a/2048/CH9/EX9.21/motor_pd.sce b/2048/CH9/EX9.21/motor_pd.sce
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+// DC motor with PID control, tuned through pole placement technique, as in Example 9.18.
+// 9.21
+
+exec('desired.sci',-1);
+exec('pp_pid.sci',-1);
+exec('cosfil_ip.sci',-1);
+exec('pd.sci',-1);
+exec('polyno.sci',-1);
+exec('myc2d.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);
+
+// Motor control problem
+// Transfer function
+
+a = [-1 0; 1 0]; b = [1; 0]; c = [0 1]; d = 0;
+G = syslin('c',a,b,c,d); Ts = 0.25;
+[B,A,k] = myc2d(G,Ts);
+[Ds,num,den] = ss2tf(G);
+
+// Transient specifications
+rise = 3; epsilon = 0.05;
+phi = desired(Ts,rise,epsilon);
+
+// Controller design
+Delta = 1;  //No internal model of step used
+[Rc,Sc] = pp_pid(B,A,k,phi,Delta);
+
+// continuous time controller
+[K,taud,N] = pd(Rc,Sc,Ts);
+numb = K*[1 taud*(1+1/N)]; denb = [1 taud/N];
+numf = 1; denf = 1;
+
+// simulation parameters
+st = 1;  // desired change in position
+t_init = 0; // simulation start time
+t_final = 20; // simulation end time
+st1 = 0;
+
+// continuous controller simulation: g_s_cl3.xcos
+num1 = 0; den1 = 1; 
+
+// discrete controller simulation: g_s_cl2.xcos
+// u1: -0.1 to 0.8
+// y1: 0 to 1.4
+C = 0; D = 1; N = 1; gamm = 1; Tc = Sc; 
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Np,Rcp] = cosfil_ip(N,Rc); // N/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+Numb = polyno(numb,'s');
+Denb = polyno(denb,'s');
+Numf = polyno(numf,'s');
+Denf = polyno(denf,'s');
+Num1 = polyno(num1,'s');
+Den1 = polyno(den1,'s');