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+//Example 6.16
+//Lead compensation for Servomechanism System.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+numG=10;
+denG=s*(s/2.5+1)*(s/6+1);
+G=numG/denG;
+//Dc gain
+K=1;
+
+KGs=syslin('c',K*G);
+
+//Lead compensator 1
+numD=s/2+1;
+denD=s/20+1;
+D1=numD/denD;
+D1s=syslin('c',D1);
+
+KGD1s=D1s*KGs; //compensated system
+
+//Lead compensator 2
+numD=s/4+1;
+denD=s/40+1;
+D2=D1*numD/denD; //double compensator
+D2s=syslin('c',D2);
+
+
+KGD2s=D2s*KGs; //compensated system
+
+//The bode plot of the system with K
+bode([KGs;KGD1s;KGD2s],0.1/2/%pi,100/2/%pi,['KG';'KGD1';'KGD2'],"rad");
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Bode plot for lead compensation design','fontsize',3)
+//------------------------------------------------------------------
+//Margins of uncompensated and compensated systems
+[gm1,wcg1]=g_margin(KGs);
+[pm1,wcp1]=p_margin(KGs);
+disp(wcp1*2*%pi,"Wcp",wcg1*2*%pi,"Wcg",pm1,...
+"Phase margin",gm1,"Gain margin","Uncompensated system :")
+
+[gm2,wcg2]=g_margin(KGD1s);
+[pm2,wcp2]=p_margin(KGD1s);
+disp(wcp2*2*%pi,"Wcp",wcg2*2*%pi,"Wcg",pm2,...
+"Phase margin",gm2,"Gain margin","System with D1 compensator :")
+
+[gm3,wcg3]=g_margin(KGD2s);
+[pm3,wcp3]=p_margin(KGD2s);
+disp(wcp3*2*%pi,"Wcp",wcg3*2*%pi,"Wcg",pm3,...
+"Phase margin",gm3,"Gain margin","System with D2 compensator :")
+//------------------------------------------------------------------