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+//Example 3.30
+//Stability versus two parameter ranges
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Stability versus parameter ranges
+
+num=[1 0];//zeros
+den=[-1 -2];//poles
+Ns=poly(num,'s','coeff');
+Ds=poly(den,'s','roots'); 
+Gfs=syslin('c',Ns/Ds); //forward transfer function block
+
+num=[1];
+den=[1 0];
+Ns=poly(num,'s','coeff');
+Ds=poly(den,'s','coeff');
+Hs=syslin('c',Ns/Ds); //feedback transfer function block
+
+//check the step responses with the forward, path gain K=7.5, 13, 25
+t=0:0.02:12;
+i=1;
+num=[5 10;1 1;0 1];
+
+for i=1:3
+    den=[0 1];
+    Ns=poly(num(i,:),'s','coeff');
+    Ds=poly(den,'s','coeff');
+    Gcs=syslin('c',Ns/Ds); //Controller transfer function block
+    sysT= Gcs * Gfs /. Hs;
+    yt(i,:)=csim('step',t,sysT);
+    i=i+1;
+end
+
+//Transient response for different values of K and Ki
+plot(t',yt')
+exec .\fig_settings.sci; //custom script for setting figure properties
+title("Transient response for the system",'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('y(t)','fontsize',2)
+xset("font",1,1)
+xstring(1.4,1.05,'$K=10,K_I=5$');
+xstring(3.3,0.8,'$K=1,K_I=1$');
+xstring(5.5,0.35,'$K=1,K_I=0$') 
+//------------------------------------------------------------------