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+//Caption:calculate_tr,Tp,Mp
+//example 11_10_a
+//page 478
+s=%s;
+G=16/(s^2+1.6*s)
+H=1;
+CL=G/.H
+disp(CL,"C(s)/R(s)=");
+b=denom(CL)
+c=coeff(b)
+//Wn^2=c(1,1)
+Wn=sqrt(c(1,1))//natural frequency
+//2*zeta*Wn=c(1,2)
+zeta=c(1,2)/(2*Wn)//damping ratio
+Wd=Wn*sqrt(1-zeta^2)//damped frequency
+Mp=(exp(-(zeta*%pi)/sqrt(1-zeta^2)))*100//max. overshoot
+tr=(%pi-atan(sqrt(1-zeta^2)/zeta))/(Wn*sqrt(1-zeta^2))//rise time
+Tp=%pi/Wd//peak time
+disp(Tp,"peak time=");
+disp(Mp,"max. peak overshoot=")
+disp(tr,"rise time=")
+\ No newline at end of file