1 files changed, 24 insertions, 0 deletions
diff --git a/257/CH7/EX7.16/example_7_16.sce b/257/CH7/EX7.16/example_7_16.sce
new file mode 100644
index 000000000..f648c5c5e
--- /dev/null
+++ b/257/CH7/EX7.16/example_7_16.sce
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+q=poly([0 200 4 1],'s','coeff');
+G=k/q //gain FACTOR=k
+H=1
+y=G*H //type 1
+
+syms s
+Kp=limit(s*y/s,s,0) //Kp= position error coefficient
+Kv=limit(s*G*H,s,0) //Kv= velocity error coefficient
+Ka=limit(s^2*G*H,s,0) //Ka= accelaration error coefficient
+
+disp(Ka ,"Ka = ")
+disp(Kv ,"Kv = ")
+disp(Kp ,"Kp = ")
+
+//for unit step input
+A=1
+Ess=A/(Kp + 1)
+disp(Ess, "Ess for unit step input is ")
+
+disp(A/Kv, "Ess for unit ramp input is ")
+
+
+
+