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+//Example 17.4
+clc
+s=%s;
+syms Kc K1 tauI tauD
+K=0.09;
+Kc=K1/K;
+Gc=K1*(1+1/(tauI*s)+tauD*s)
+g1=1/((s+1)*(s+2));
+//g2=exp(-0.5*s), we can write it as g2=(2-0.5*s)/(2+0.5*s). Therefore,
+g2=(2-0.5*s)/(2+0.5*s);
+G=g1*g2;
+G=syslin('c',G)
+clf
+bode(G)
+show_margins(G)
+//From the bode diagrams we get
+wc0=1.56;//rad/min
+A=0.145;
+Ku=1/A
+Pu=2*%pi/wc0
+//By Z-N rules
+//For P controller
+K1=0.5*Ku
+Gc=K1
+G1=Gc*G/K1
+//For PI controller
+K1=0.45*Ku
+tauI=Pu/1.2
+Gc=K1*(1+1/(tauI*s))
+G2=Gc*G/K1
+//For PID controller
+K1=0.6*Ku
+tauI=Pu/2
+tauD=Pu/8
+Gc=K1*(1+1/(tauI*s)+tauD*s)
+G3=Gc*G/K1
+clf
+bode([G1;G2;G3])
+legend(['G1';'G2';'G3']);
+
+