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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 6.3
+
+clc;
+clear; 
+s=poly(0,'s')
+K=20//the value of K 
+h=syslin('c',20/(s*(s+2)*(s+8)))
+evans(h)
+xtitle("uncompensated system")
+//given  ramp input ess(steady state error ) is0.125
+ess=0.125
+kvd=1/ess//desired velocity error constant
+// transfer function of un compessated system G(s)=20/s*(s+2)*(s+8)
+//by definition of velocity error constant applying limit s=0 in G(s)
+kvu=1.25 
+disp(kvu,'The velocity error constant of un compensated system is')
+disp(kvd,'desired velocity error constant')
+A=kvd/kvu//A is the factor by which velocity error constant increases
+betaa=A*1.2
+disp(betaa,'the value of betaa is')
+zc=0.1*(-2)//zero of lag compensator=0.1* second pole
+t=(-1/zc)
+disp(t,'the value for t is')
+pc=(-1)/(betaa*t)//pole of lag compensator
+//transfer function of lag compensation is (s+1/t)/(s+1/betaa*t))
+hc=syslin('c',(s+0.2*s)/(s+0.026*s))
+disp(hc,'transfer function of lag compensation is')
+//open loop transfer function of compensated system is h*hc
+hcmp=syslin('c', h*hc)
+disp(hcmp,'open loop transfer function of compensated system is')
+figure()
+evans(hcmp) 
+xtitle("compensated system")
+//by definition of velocity error constant applying limit s=0 in hcmp
+kvc=9.165//velocity error constant of compensated system
+essc=1/kvc//steady state error for compensated system
+disp(essc,'steady state error for compensated system')
+disp('since the steady state error of compensated system is less than 0.125 the design is acceptable')
+
+