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diff --git a/29/CH8/EX8.6.1/exa8_6_1.sce b/29/CH8/EX8.6.1/exa8_6_1.sce
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+//caption:design_suitable_compensator
+//example 8.6.1
+//page 339
+s=%s;
+clf();
+syms K;
+g=(K/(s*(1+0.2*s)));
+Kv=limit(s*g,s,0);//static velocity error coefficient
+//since Kv=10
+K=10;
+g=(10/(s*(1+0.2*s)));
+G=syslin('c',g)
+fmin=0.01; 
+fmax=100; 
+bode(G, fmin, fmax) 
+show_margins(G)
+xtitle("uncompensated system")
+[gm,freqGM]=g_margin(G);
+[pm,freqPM]=p_margin(G);
+disp(gm,"gain_margin=");
+disp((freqGM*2*%pi),"gain_margin_freq=");
+disp(pm,"phase_margin=");
+disp((freqPM*2*%pi),"phase_margin_freq_or_gain_cross_over_frequency=");
+disp("since P.M is less than desired value so we need phase lead network ")
+disp("selecting zero of lead compensating network at w=5.5rad/sec and pole at w=13.8rad/sec and applying gain to account attenuatin factor .")
+gc=(1+0.18*s)/(1+0.072*s)
+Gc=syslin('c',gc)
+disp(Gc,"transfer function of lead compensator=");
+G1=G*Gc
+disp(G1,"overall transfer function=");
+fmin=0.01; 
+fmax=100; 
+figure();
+bode(G1, fmin, fmax);
+show_margins(G1)
+xtitle("compensated system")
+[gm,freqGM]=g_margin(G1);
+[pm,freqPM]=p_margin(G1);
+disp(pm,"phase_margin_of_compensated_system=");
+disp((freqPM*2*%pi),"gain_cross_over_frequency=");
+\ No newline at end of file