1 files changed, 22 insertions, 0 deletions
diff --git a/257/CH7/EX7.2/example_7_2.sce b/257/CH7/EX7.2/example_7_2.sce
new file mode 100644
index 000000000..39caa5edd
--- /dev/null
+++ b/257/CH7/EX7.2/example_7_2.sce
@@ -0,0 +1,22 @@
+p=poly([6 5 1],'s','coeff');
+q=poly([0 20 29 10 1],'s','coeff');
+G=10*p/q //gain FACTOR=10
+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 = ")
+
+Ess1=3/(1+Kp)
+disp(Ess1, "Ess1 = ")
+Ess2=1/(Kv)
+disp(Ess2, "Ess2 = ")
+
+disp("Ess3=2/(Ka) = infinity")
+