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+//Example 7.15
+//Control law for a pendulum.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Pendulum state model;
+w0=1;
+
+F=[0 1;-w0^2 0];
+G=[0 1]';
+H=eye(2,2); //representing x1 and x2 states as outputs
+J=[0 0]';
+
+sys=syslin('c',F,G,H,J); //open loop system
+
+x0=[1 0]' //initial condition 
+t=0:0.2:7;
+y=csim('impulse',t,sys); //open loop response
+//------------------------------------------------------------------
+
+//simulation for closed loop system
+x0=[1 0]' //initial condition 
+
+//control law u=-Kx;
+K=[3*w0^2 4*w0];
+syscl=syslin('c',(F-G*K),G,H,J); //closed loop system
+
+
+t=0:0.1:7;
+u=zeros(1,length(t));
+[x z]=csim(u,t,syscl,x0); //closed loop response
+plot(t',x');
+
+u=-K*x;
+plot(t',u'/4,'r--'); //control law u plot (scaled to 1/4 in figure);
+legend("x1","x2","u/4")
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Impulse response of undamped oscillator with full-state...
+ feedback(w0=1)','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+//------------------------------------------------------------------