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+//Book name: Fundamentals of electrical drives by Mohamad A. El- Sharkawi
+//chapter 9
+//example 9.4
+//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 
+Vm=V*sqrt(2);
+b1=((Ra*Tup)/KQ)/((2*Vm)/%pi);
+alpha3=acosd(b1);//triggering angle at the upward motion 
+mprintf("The triggering angle at the motor changes during the upward motion to keep the motor constant in degree is %f",alpha3)