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+//Example 7.35
+// Integral Control of a Motor Speed System
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+//Transfer function model 
+num=1;
+s=poly(0,'s');
+den=(s+3);
+G=syslin('c',num/den);
+sys=tf2ss(G)
+
+// State space representation of augmented system
+F=[0 1; 0 -3];
+G=[0 1]'
+H=[1 0];
+J=0;
+
+//Desired poles for augmented system
+Pc=[-5 -5]
+
+// State feedback gain is
+K=ppol(F,G,Pc)
+disp(K,'K=')
+
+//Estimator
+Pe=[-10]
+L=ppol(sys.A',sys.C',Pe)
+disp(L','L=')
+
+//------------------------------------------------------------------
+//(c) Compare step reference and disturbance response.
+//step reference response switch r=1 and w=0;
+r=1;w=0;
+importXcosDiagram(".\Ex7_35_model.xcos")
+ //The diagram data structure
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure(0)
+plot(yt.time,yt.values)
+xlabel('time');
+ylabel('y');
+
+figure(1)
+plot(ut.time,ut.values)
+xlabel('time');
+ylabel('y');
+//------------------------------------------------------------------
+// Step disturbance response switch r=0 and w=1;
+w=1;r=0;
+importXcosDiagram(".\Ex7_35_model.xcos")
+ //The diagram data structure
+xcos_simulate(scs_m,4);
+scs_m.props.context
+
+scf(0)
+plot(yt.time,yt.values,'r--')
+xlabel('time');
+ylabel('y');
+title("step Response",'fontsize',3)
+exec .\fig_settings.sci; // custom script for setting figure properties
+legend("y1","y2")
+xset('font size',3);
+xstring(0.9,0.9,"$y_1$");
+xstring(0.25,0.12,"$y_2$");
+
+
+scf(1)
+plot(ut.time,ut.values,'r--')
+xlabel('time');
+ylabel('y');
+title("Control efforts",'fontsize',3)
+exec .\fig_settings.sci; // custom script for setting figure properties
+legend("u1","u2")
+xset('font size',3);
+xstring(0.25,2.5,"$u_1$");
+xstring(1,-1,"$u_2$");
+//------------------------------------------------------------------
+