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+//Example 7.34
+// Servomechanism, increasing the velocity constant through
+// zero assignment. 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=1;
+den=s*(s+1);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[0 1;0 -1]
+G=[0 1]';
+H=[1 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-2 -2]
+
+// State feedback gain
+exec .\acker_dk.sci;
+K=acker_dk(F,G,Pc)//Gain computed in book is incorrect.
+disp(K,'K=',"State feedback gain")
+//------------------------------------------------------------------
+//Overall transfer function with reduced order estimator.
+Gred=8.32*(0.096+s)/(0.1 +s)/(8 + 4*s+s^2)
+Gred=syslin('c',Gred)
+disp(Gred,'Ys/Rs',"Overall transfer function with reduced...
+ order estimator")
+
+//Compensator
+D=(0.096+s)*(s+1)/(4.08 +s)/(0.0196+s)
+Ds=syslin('c',D*8.32)
+disp(Ds,'Ds=',"Compensator transfer function")
+//------------------------------------------------------------------
+//root locus 
+figure(0)
+evans(D*Gs,100) //Correct root locus
+zoom_rect([-0.2 -0.1 0.1 0.1])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus of lag-lead compensation','fontsize',3);
+//------------------------------------------------------------------
+//Bode plot
+figure(1)
+bode(Ds*Gs,0.01/2/%pi,100/2/%pi,"rad") //Correct root locus
+
+f=gca();
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Frequency response of lag-lead compensation','fontsize',3);
+//------------------------------------------------------------------
+//step response of the system with lag compensation
+t=0:0.1:5;
+ylag=csim('step',t,8.32*Gs*D/(1+8.32*Gs*D));
+figure
+plot(t,ylag,2);
+xlabel('Time (sec)');
+ylabel('y');
+title("Step response of the system with lag compensation",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+//Discrete-time controller
+sysDc_ss=syslin('c',tf2ss(Ds));
+ts=0.1;
+sysDd=dscr(sysDc_ss,ts)
+Gdz=ss2tf(sysDd)
+
+disp(Gdz,"Discrete-time compensator")
+//------------------------------------------------------------------
+//step responses comparision
+importXcosDiagram(".\Ex7_34_model.xcos")
+
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure,
+plot(yt.time,yt.values(:,1),2)
+plot(yt.time,yt.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('y');
+title("Comaprison of step responses for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller",4)
+
+//Control inputs
+figure,
+plot(ut.time,ut.values(:,1),2)
+plot(ut.time,ut.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('u');
+title("Comaprison of control signals for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller")
+//------------------------------------------------------------------