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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 6.14
+
+clc;
+clear; 
+s=poly(0,'s')
+//dominent pole sd=-zeta*w=%i*w*sqrt(1-zeta^2)
+zeta=0.8//damping ratio
+w=2//natural frequency of osciilation in rad/sec
+sd=(-zeta*w)+((%i*w)*sqrt(1-zeta^2))
+disp(sd,'the dominennt pole is')
+d=abs(sd)
+disp(d,'the value of d is ')
+betaa=phasemag(sd)
+disp(betaa,'the value of betaa is;')
+h=syslin('c',20/s*(s+2)*(s+4))//given tranfer function G(s)
+//find magnitude and phase of G(s) at s=sd
+a=20/(sd*(2+sd)*(4+sd))
+ad=abs(a)
+disp(ad,'the value of ad is')
+phid=phasemag(a)
+disp(phid,'the value of phid is')
+kd=sind(phid)/(d*ad*sind(betaa))//derivative constant
+disp(kd,'the derivative  constant is')
+kp=(-sind(betaa+phid))/(ad*sind(betaa))//proportional constant
+disp(kp,'the integral  constant is')
+hc=syslin('c', s*((0.243/s)+0.557))//transfer function of PD controller is kpof +kd*s
+disp(hc,'transfer function of PD controller is')
+hcmp=syslin('c',h*hc)//transfer function   compensated system 
+disp(hcmp,'transfer function   compensated system ')