1 files changed, 28 insertions, 0 deletions
diff --git a/29/CH6/EX6.10.18/exa6_10_18.sce b/29/CH6/EX6.10.18/exa6_10_18.sce
new file mode 100755
index 000000000..58c65dc0c
--- /dev/null
+++ b/29/CH6/EX6.10.18/exa6_10_18.sce
@@ -0,0 +1,28 @@
+//caption:determine_Kp_Kv_Ka
+//example 6.10.17
+//page 188
+s=%s;
+syms t K zeta Wn;
+num=K;
+den=sym('s*(s^2+2*zeta*Wn*s+Wn^2)');
+G=num/den;
+G=simple(G);
+disp(G,"G(s)=");
+Kp=limit(G,s,0);//static positional error coefficient
+disp(Kp,"static positional error coefficient,Kp=");
+Kv=limit(s*G,s,0);//static velocity error coefficient
+disp(Kv,"static velocity error coefficient,Kv=");
+Ka=limit(s^2*G,s,0);//static acceleration error coefficient
+disp(Ka,"static acceleration error coefficient,Ka=");
+printf("for(ii):");
+num=sym('100*(s+2)*(s+40)');
+den=sym('s^3*(s^2+4*s+200)');
+GH=num/den;
+GH=simple(GH);
+disp(GH,"G(s)H(s)=");
+Kp=limit(GH,s,0);//static positional error coefficient
+disp(Kp,"static positional error coefficient,Kp=");
+Kv=limit(s*GH,s,0);//static velocity error coefficient
+disp(Kv,"static velocity error coefficient,Kv=");
+Ka=limit(s^2*GH,s,0);//static acceleration error coefficient
+disp(Ka,"static acceleration error coefficient,Ka=");
+\ No newline at end of file