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+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.12
+
+clc;
+clear; 
+s=poly(0,'s')
+//given tranfer function g(s)=100/(s+1)*(s+2)*(s+5)
+h=syslin('c',100/(s+1)*(s+2)*(s+5))
+pm=60//given phase margin
+w=0.5//given gain cross over frequency in rad/sec
+//put s=jw in G(s) magnitude of G(jw) gives A1 and angle of G(jw) gives phi1 at w
+A1=8.63
+phi=-46//in degrees
+theta=pm-134//desired pm -pm of uncompensated system
+ki=(-w)*sind(theta)/A1//integral constant
+kp=cosd(theta)/A1//proportional constant
+disp(ki,kp,'the values of integral constant and proportional constant are')
+//transfer function of PI controller is (kp+ki/s)
+hc=syslin('c', 0.056*(1+0.57*s)/s)
+disp(hc,'the transfer function of PD controller is')
+hcmp=syslin('c', h*hc)
+disp(hcmp,'the transfer function of compensated system is')