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+//Book name: Fundamentals of electrical drives by Mohamad A. El- Sharkawi
+//chapter 9
+//example 9.3
+//edition 1
+//publisher and place:Nelson Engineering
+clc;
+clear;
+Ra=.5;//armature resistance in ohm
+KQ=3;//field constant
+V=277;//source voltage in volt
+Tup=100;//upward directional load torque in Nm
+a=20;//triggering angle in degree
+Tdw=200;//downward directional load torque in Nm
+Vm=V*sqrt(2);
+Veq=((2*Vm)/%pi)*cosd(a);
+omega1=((Veq/KQ))-((Ra*Tup)/KQ^(2));
+n1=omega1*(60/(2*%pi));//downward speed in rpm
+b1=((-KQ*omega1)+((Ra*Tdw)/KQ))/((2*Vm)/%pi);
+alpha2=acosd(b1);
+mprintf("The triggering angle required to keep the downward speed equal in magnitude to the upward speed in degree is %f",alpha2)