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+// Calculation of desired closed loop characteristic polynomial, as discussed in Sec. 7.7.
+// 9.4
+
+// function [phi,dphi] = desired(Ts,rise,epsilon)
+// Based on transient requirements, 
+// calculates closed loop characteristic polynomial
+
+function [phi,dphi] = desired(Ts,rise,epsilon)
+Nr = rise/Ts; omega = %pi/2/Nr; rho = epsilon^(omega/%pi); 
+phi = [1 -2*rho*cos(omega) rho^2]; dphi = length(phi)-1;
+endfunction;