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+//Example 6.17
+//Lag compensation for Temperature Control System.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+numG=1;
+denG=(s/0.5+1)*(s+1)*(s/2+1);
+G=numG/denG;
+//Dc gain
+K=3; //to set phase requirement
+
+KGs=syslin('c',K*G);
+
+//Lag compensator
+numD=5*s+1;
+denD=15*s+1;
+D=3*numD/denD;
+Ds=syslin('c',D);
+
+KGDs=Ds*KGs; //compensated system
+
+//The bode plot of the system with K
+bode([KGs;KGDs],0.01/2/%pi,10/2/%pi,['KG';'KGD'],"rad");
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Frequency response of lag-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(KGDs);
+[pm2,wcp2]=p_margin(KGDs);
+disp(wcp2*2*%pi,"Wcp",wcg2*2*%pi,"Wcg",pm2,"Phase margin",...
+gm2,"Gain margin","Compensated system :")
+
+//------------------------------------------------------------------
+//step response
+//closed loop system
+Gc=KGDs/(KGDs+1);
+figure;
+t=0:0.05:20;
+v=csim('step',t,Gc);
+plot2d(t,v)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Step response for lag compensation design','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('y','fontsize',2)
+//------------------------------------------------------------------