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+//caption:determine_Wn,Wd,Tp,zeta_and_steady_state_error
+//example 11_14
+//page 484
+s=%s;
+syms t;
+G=20/((s+5)*(s+1))
+H=1;
+CL=G/.H
+disp(CL,"C(s)/R(s)=")
+b=denom(CL)
+disp(0,b,"=","the char. eq is:",)
+Wn=sqrt(25)//natural_frequency
+//2*zeta*Wn=6
+zeta=6/(2*Wn);//damping ratio
+d=zeta*Wn;//damping_factor
+z=sqrt(1-zeta^2);
+Wd=Wn*z;//damped_frequency_of_oscillation
+Mp=exp((-zeta*%pi)/z)*100;//%_max.peak_overshoot
+Tp=%pi/Wd//peak time
+tfirst=(2*%pi)/Wd   //time for first under shoot
+period=(2*%pi)/Wd    //period of oscillation
+ts=4/(zeta*Wn)//settling time
+N=(Wd/(2*%pi))*ts//no. of oscillations completed before reaching steady state
+disp(Wn,"natural frequency=");
+disp(zeta,"damping ratio=");
+disp(Wd,"damped frequency of oscillation=");
+disp(Tp,"peak time=");
+disp(Mp,"%_max.peak overshoot=");
+disp(tfirst,"time for first under shoot=");
+disp(period,"period of oscillation=");
+disp(N,"no. of oscillations completed before reaching steady state=");
+\ No newline at end of file