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+//Example 6.18
+//Lag compensation for DC motor.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+g=1/s/(s+1);
+K=10; //DC gain
+KGs=syslin('c',K*g);
+
+//Lag compensator
+numD=10*s+1; //0.1 
+denD=100*s+1; //0.01
+D=numD/denD;
+Ds=syslin('c',D);
+
+KGDs=Ds*KGs; //compensated system
+
+//The bode plot of the system
+bode([KGs;KGDs],0.001/2/%pi,10/2/%pi,['KG(s)';'D(s)G(s)'],"rad");
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Frequency response of lag-compensation design...
+ of DC motor','fontsize',3)
+//------------------------------------------------------------------
+//step response
+//closed loop system
+Gc=KGDs/(KGDs+1);
+figure;
+t=0:0.05:50;
+v=csim('step',t,Gc);
+plot(t,v,2)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Step response for Lag-compensation design...
+ of DC motor','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('y','fontsize',2)
+//------------------------------------------------------------------