1 files changed, 26 insertions, 0 deletions
diff --git a/257/CH7/EX7.7/example_7_7.sce b/257/CH7/EX7.7/example_7_7.sce
new file mode 100644
index 000000000..bfb158cc8
--- /dev/null
+++ b/257/CH7/EX7.7/example_7_7.sce
@@ -0,0 +1,26 @@
+q=poly([0 0 6 5 1],'s','coeff');
+G=1/q       //gain FACTOR=k
+H=1
+y=G*H       
+disp(y)
+
+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=1/(1+Kp)
+disp(Ess1, "Ess1 = ")
+Ess2=10/(Kv)
+disp(Ess2, "Ess2 = ")
+Ess3=40/(Ka)
+disp(Ess3, "Ess3 = ")
+
+Ess=Ess1+Ess2+Ess3         //Ess=10     given
+k=Ess/10
+disp(k, "k = ")
+