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// PD control law from polynomial coefficients, as explained in Sec. 9.8.
// 9.22
function [K,taud,N] = pd(Rc,Sc,Ts)
// Both Rc and Sc have to be degree one polynomials
s0 = Sc(1); s1 = Sc(2);
r1 = Rc(2);
K = (s0+s1)/(1+r1);
N = (s1-s0*r1)/r1/(s0+s1);
taudbyN = -Ts*r1/(1+r1);
taud = taudbyN * N;
endfunction;
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