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+//caption:determine_Wn,Wd,zeta_and_steady_state_error
+//example 12_13
+//page 527
+syms Kp K Kd T 
+s=%s;
+//exec series.sce;
+//exec parallel.sce;
+a=(Kp+s*Kd)*K
+b=1/(s*(s*T+1))
+G=series(a,b)
+H=1;
+er=1/(1+G*H)
+disp(er,"E(s)/R(s)=");
+R=1/s^2
+E=R*er
+ess=limit(s*E,s,0)
+disp(ess,"steady state error,ess=")