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+//Book name: Fundamentals of electrical drives by Mohamad A. El- Sharkawi
+//chapter 6
+//example 6.6
+//edition 1
+//publisher and place:Nelson Engineering
+clc;
+clear;
+T=60;//Constant load torque in Nm
+V=120;//supply voltage in volt
+KQ=2.5;//Field constant of the motor 
+Ra=2;//Armature resistance in ohm
+n=200;//speed of the motor in rpm
+Vm=V*2^(1/2);//maximum voltage in volt
+w=(2*%pi*n)/T;//angular speed
+Iave=T/KQ;
+b=((%pi/(2*Vm))*((Ra*Iave)+(KQ*w)));
+alpha=acosd(b);
+mprintf("\nThe triggering angle of the motor is  %f degree",alpha)