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+//Example 7.33
+// DC servo system redesign with modified with dominant second
+// order pole locations.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0]
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-1.41+1.41*%i -1.41-1.41*%i -8]
+
+
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-4.24+4.24*%i -4.24-4.24*%i -8]
+exec .\acker_dk.sci;
+Lt=ppol(F',H',Pe);
+L=clean(Lt');
+disp(L,'L=',"Observer gain")
+//Error in book, Gain values are different in book.
+//------------------------------------------------------------------
+//Compensator Design
+DK=-K*inv(s*eye(n,n)-F+G*K+L*H)*L;
+DK=syslin('c',DK)
+exec('./zpk_dk.sci', -1);
+[pl,zr,Kp]=zpk_dk(DK*10);
+disp(zr,"zeros",pl,"Poles",Kp*10,"Gain(includung system gain)")
+Dcs=poly(zr,'s','roots')/poly(pl,'s','roots')
+disp(Dcs,'Dcs=',"Compensator transfer function")
+//------------------------------------------------------------------