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s=%s
p= poly([0 0 20],'s','coeff');
q= poly([1 2 22 4 40 0], 's','coeff');
disp (M,"M( s )=")
H =1;
R =1;
b= coeff (p)
a= coeff (q)
// s t e p input
if (a(1 ,1) ==b(1 ,1)) then
printf (" f o r u n i t s t e p input Ess=0 \nn" )
else
Ess =1/ H*(1 -(b(1 ,1)*H/a(1 ,1)))*R;
kp=(1-Ess)/Ess;
disp (Ess ," f o r u n i t s t e p input Ess=")
disp(kp,"Kp=")
end
// ramp input
c=0
for i =1:2
if(a(1,i)-b(1,i)*H ==0) then
c=c+1
end
end
if(c ==2)
printf (" f o r u n i t ramp input Ess=0 \nn")
else if(c ==1) then
Ess =(a(1 ,2) -b(1 ,2)*H)/a(1 ,1)*H;
kv=1/Ess;
disp (Ess ," for unit ramp input Ess=")
disp(kv,"Kv=")
else printf (" for unit ramp input Ess=infinite \nn")
end
end
// p a r a b o l i c input
c=0
for i =1:3
if(a(1,i)-b(1,i)*H ==0) then
c=c+1
end
end
if(c ==3)
printf (" for unit parabolic input Ess=0 \nn")
else if(c ==2) then
Ess =(a(1 ,3) -b(1 ,3)*H)/a(1 ,1)*H;
ka=1/Ess;
disp (Ess ," for unit parabolic input Ess=")
diisp(ka,"Ka=")
else printf (" for unit parabolic input Ess=infinite\nn")
end
end
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