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//denominator polynomial//
s=poly(0,'s'); //Defines s as polynomial variable
F=syslin('c',[81/(s^2+7*s)]); //Creates transfer function in forward path
B=syslin('c',(1+0*s)/(1+0*s)); //Creates transfer function in backward path
CL=F/.B //Calculates closed-loop transfer function
// compare CL with Wn^2/(s^2+2*zeta*Wn+Wn^2)
y=denom(CL) //extracting the denominator of CL
z=coeff(y) //extracting the coefficients of the denominator polynomial
//Wn^2=z(1,1) ,comparing the coefficients
Wn=sqrt(z(1,1)) // Wn=natural frequency
//2*zeta*Wn=z(1,2)
zeta=z(1,2)/(2*Wn) // zeta=damping factor
Mr=1/(2*zeta*sqrt(1-zeta^2))
Wr=Wn*sqrt(1-zeta^2)
Wc=Wn*sqrt((1-2*zeta^2)+sqrt(4*zeta^4-4*zeta^2+2))
BW=Wc //BANDWIDTH
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