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+//Example 10.6
+//page 672
+//Control Systems: Principles and Design 
+//M Gopal, Second Edition, Tata McGraw-Hill
+//Chapter:Compensator design using Bode Plots
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+s=poly(0,"s")
+w=poly(0,'w')
+G=1/((s)*(0.1*s+1)*(0.2*s+1))
+wb=12
+Kv=30
+pm=50 //degrees
+K=Kv/horner((s)*G,0)
+G1=syslin('c',K*G)
+[gm,frg]=g_margin(G1)
+[pm0,frp]=p_margin(G1)
+
+//Design of lag compensation part
+phi=-180+pm+5
+wc=2.1 //New gain crossover frequency
+Beta=10
+Kc=K/Beta
+z=wc/2
+p=z/Beta
+//Design of lead compensation part
+alpha=1/Beta
+phi1= asin(((1-alpha)/(1+alpha)))
+wc1=6.5
+z1=wc1*sqrt(alpha)
+p1=wc1/sqrt(alpha) 
+Kc=Kc/sqrt(alpha)
+D=Kc*((((s+z)*(s+z1))/((s+p)*(s+p1))))
+disp(D,'Lead-Lag Compensator=')
+Gc=syslin('c',G1*D)
+f=figure()
+bode(G1)
+bode_asymp(G1)
+title('Bode plot of uncompensated system')
+a=gca();
+a.parent.background=8; 
+f=figure()
+bode(Gc)
+bode_asymp(Gc)
+title('Bode plot of compensated system')
+a=gca();
+a.parent.background=8; 
+f=figure()
+black([G1;Gc ],0.01,100,["Plant";"Plant and Lag Compensator"]);
+a=gca();
+a.parent.background=8; 
+Leg=a.children(1);
+Leg.legend_location="in_lower_right";
+nicholschart(colors=color('light gray')*[1 1])
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