Xcos examples from textbooks and for blocksHEAD master

author: Siddharth Agarwal 2019-09-03 18:27:40 +0530
committer: Siddharth Agarwal 2019-09-03 18:27:40 +0530
commit: 8ac15bc5efafa2afc053c293152605b0e6ae60ff (patch)
tree: e1bc17aae137922b1ee990f17aae4a6cb15b7d87 /Working_Examples/3432/CH7
parent: 52a477ec613900885e29c4a0b02806a415b4f83a (diff)
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diff --git a/Working_Examples/3432/CH7/EX7.10/Ex7_10.sce b/Working_Examples/3432/CH7/EX7.10/Ex7_10.sce
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+//Example 7.10
+//Transformation of Thermal System from Control to Modal Form
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space matrices of the given system
+Ac=[-7 1; -12 0];
+Bc=[1;2];
+Cc=[1 0];
+Dc=0;
+//------------------------------------------------------------------
+// State space representation in modal canonical form
+T=[4 -3;-1 1]
+Am=T\Ac*T;
+Bm=T\Bc;
+Cm=Cc*T;
+Dm=Dc;
+disp(Dm,"Dm",Cm,"Cm", Bm,"Bm",Am,"Am","Thermal System in modal canonical form")
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.11/Ex7_11.sce b/Working_Examples/3432/CH7/EX7.11/Ex7_11.sce
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@@ -0,0 +1,48 @@
+//Example 7.11
+//Poles and Zeros of Tape Drive System.
+//Also, Transform the system into modal form
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space matrices of Tape Drive System
+
+F=[0 2 0 0 0;
+-0.1 -0.35 0.1 0.1 0.75;
+0 0 0 2 0;
+0.4 0.4 -0.4 -1.4 0;
+0 -0.03 0 0 -1];
+G=[0 0 0 0 1]';
+H2=[0 0 1 0 0];
+H3=[0.5 0 0.5 0 0];
+Ht=[-0.2 -0.2 0.2 0.2 0];
+//------------------------------------------------------------------
+// Poles (eigen values) of the system
+p=clean(spec(F));
+disp(p,"Poles of Tape Drive System are")
+
+//It requires complete state-space model.
+sys=syslin('c',F,G,[Ht;H2;H3],[0;0;0])
+
+// zeros of the system
+[tr]=trzeros(sys)
+disp(tr,"Transmission zeros of Tape Drive System are")
+//------------------------------------------------------------------
+// State space representation in modal canonical form with H3 output only.
+
+[m Am1]=spec(F)
+T1=[1/2 -%i/2;1/2 %i/2];
+//transformation for a complex pair of eigen values.
+temp=eye(5,5);
+T=[T1 zeros(2,3);zeros(3,2) eye(3,3)]; 
+temp(1,1)=-1; temp(2,2)=-1; //for change in input output signs as desired
+M=m*T*temp //real Modal transformation
+
+Am=clean(M\F*M);
+Bm=clean(M\G);
+Cm=clean(H3*M);
+Dm=0;
+
+disp(Dm,"Dm",Cm,"Cm", Bm,"Bm",Am,"Am","Tape Drive System in modal canonical form")
+//------------------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.12/Ex7_12.sce b/Working_Examples/3432/CH7/EX7.12/Ex7_12.sce
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--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.12/Ex7_12.sce
@@ -0,0 +1,23 @@
+//Example 7.12
+//Transformation of Thermal System from state description
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model of Thermal System
+s=%s;
+F=[-7 -12; 1 0];
+G=[1;0];
+H=[1 2];
+J=0;
+sys=syslin('c',F,G,H,J)
+//------------------------------------------------------------------
+//Transfer function model of Thermal System
+[ch num den]=ss2tf(sys);
+disp(num/den, "G=","Transfer function model of Thermal System")
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.13/Ex7_13.sce b/Working_Examples/3432/CH7/EX7.13/Ex7_13.sce
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@@ -0,0 +1,24 @@
+//Example 7.13
+//Zeros for the Thermal System from a State Description
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model of the given system
+F=[-7 -12; 1 0];
+G=[1;0];
+H=[1 2];
+J=0;
+sysG=syslin('c',F,G,H,J)
+//------------------------------------------------------------------
+//Transfer function model
+[d num den]=ss2tf(sysG);
+zr=roots(num);
+disp(zr,'zr=');
+//Alternately, it can be obtained as
+zr=trzeros(sysG);
+disp(zr,'zr=');
+//------------------------------------------------------------------
+
+
diff --git a/Working_Examples/3432/CH7/EX7.14/Ex7_14.sce b/Working_Examples/3432/CH7/EX7.14/Ex7_14.sce
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--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.14/Ex7_14.sce
@@ -0,0 +1,74 @@
+//Example 7.14
+//Analysis of state equations of Tape Drive.
+//compute the poles, zeros  and transfer function of Tape Drive System.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space matrices of Tape Drive System
+
+F=[0 2 0 0 0;
+-0.1 -0.35 0.1 0.1 0.75;
+0 0 0 2 0;
+0.4 0.4 -0.4 -1.4 0;
+0 -0.03 0 0 -1];
+G=[0 0 0 0 1]';
+H2=[0 0 1 0 0];
+H3=[0.5 0 0.5 0 0];
+Ht=[-0.2 -0.2 0.2 0.2 0];
+//------------------------------------------------------------------
+//Poles (eigen values) of the system
+p=clean(spec(F));
+
+disp(p,"P","Poles of Tape Drive System are (for any output)")
+disp("************************************************************")
+
+
+disp("pole and zero polynomials and transfer function...
+ for a system with output H2")
+sys2=syslin('c',F,G,H2,0);
+[d2 num2 den2]=ss2tf(sys2);
+N2=coeff(num2);
+D2=coeff(den2);
+disp(D2,"D2",N2,"N2")
+// zeros of the system with output H2
+[zer2]=trzeros(sys2)
+disp(zer2,"ZER2","zeros are")
+// transfer function of the system with output H2
+G2=clean(num2/den2);
+disp(G2,"G2(s)=N2(s)/D2(s)=")
+disp("************************************************************")
+
+disp("pole and zero polynomials and transfer function for a...
+ system with output H3")
+sys3=syslin('c',F,G,H3,0);
+[d3 num3 den3]=ss2tf(sys3);
+N3=coeff(num3);
+D3=coeff(den3);
+disp(D3,"D3",N3,"N3")
+// zeros of the system with output H3
+[zer3]=trzeros(sys3)
+disp(zer3,"ZER3","zeros are")
+// transfer function of the system with output H3
+G3=clean(num2/den2);
+disp(G3,"G3(s)=N3(s)/D3(s)=")
+disp("************************************************************")
+
+
+disp("pole and zero polynomials and transfer function for a...
+ system with output Ht")
+syst=syslin('c',F,G,Ht,0);
+[dt numt dent]=ss2tf(syst);
+Nt=coeff(numt);
+Dt=coeff(dent);
+disp(Dt,"Dt",Nt,"Nt","zeros are")
+// zeros of the system with output Ht
+[zert]=trzeros(syst)
+disp(zert,"ZERT")
+// transfer function of the system with output Ht
+Gt=clean(numt/dent);
+disp(Gt,"G(s)=Nt(s)/Dt(s)=")
+disp("************************************************************")
+//------------------------------------------------------------------
+
diff --git a/Working_Examples/3432/CH7/EX7.15/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.15/DEPENDENCIES/fig_settings.sci
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index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.15/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.15/Ex7_15.sce b/Working_Examples/3432/CH7/EX7.15/Ex7_15.sce
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--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.15/Ex7_15.sce
@@ -0,0 +1,46 @@
+//Example 7.15
+//Control law for a pendulum.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Pendulum state model;
+w0=1;
+
+F=[0 1;-w0^2 0];
+G=[0 1]';
+H=eye(2,2); //representing x1 and x2 states as outputs
+J=[0 0]';
+
+sys=syslin('c',F,G,H,J); //open loop system
+
+x0=[1 0]' //initial condition 
+t=0:0.2:7;
+y=csim('impulse',t,sys); //open loop response
+//------------------------------------------------------------------
+
+//simulation for closed loop system
+x0=[1 0]' //initial condition 
+
+//control law u=-Kx;
+K=[3*w0^2 4*w0];
+syscl=syslin('c',(F-G*K),G,H,J); //closed loop system
+
+
+t=0:0.1:7;
+u=zeros(1,length(t));
+[x z]=csim(u,t,syscl,x0); //closed loop response
+plot(t',x');
+
+u=-K*x;
+plot(t',u'/4,'r--'); //control law u plot (scaled to 1/4 in figure);
+legend("x1","x2","u/4")
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Impulse response of undamped oscillator with full-state...
+ feedback(w0=1)','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.15/Ex7_15_f0.pdf b/Working_Examples/3432/CH7/EX7.15/Ex7_15_f0.pdf
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index 0000000..fda837d
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.15/Ex7_15_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.16/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.16/DEPENDENCIES/acker_dk.sci
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--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.16/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.16/Ex7_16.sce b/Working_Examples/3432/CH7/EX7.16/Ex7_16.sce
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+++ b/Working_Examples/3432/CH7/EX7.16/Ex7_16.sce
@@ -0,0 +1,25 @@
+//Example 7.16
+//Ackermann's formula for undamped oscillator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//undamped oscillator (Pendulum) state model;
+w0=1;
+
+F=[0 1;-w0^2 0];
+G=[0 1]';
+H=eye(2,2); //representing x1 and x2 states as outputs
+J=[0 0]';
+//------------------------------------------------------------------
+//Ackermann's formula for feedback gain computation
+
+pc=[-2 -2];   //desired poles
+exec('./acker_dk.sci', -1);
+[K,eig]=acker_dk(F,G,pc)
+disp(K,"Feedback gain K=")
+disp(eig,"Closed loop eigen values are ")
+//------------------------------------------------------------------
+
+
diff --git a/Working_Examples/3432/CH7/EX7.17/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.17/DEPENDENCIES/acker_dk.sci
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--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.17/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.17/Ex7_17.sce b/Working_Examples/3432/CH7/EX7.17/Ex7_17.sce
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index 0000000..3d564e3
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.17/Ex7_17.sce
@@ -0,0 +1,35 @@
+//Example 7.17 How zero location affect control law
+// Obtain state feedback gain matrix for the given system
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//(a) state feedback gain matrix for zero at 2.
+//Location of system Zero
+z0=2;
+
+// State space representation
+Ao=[-7 1;-12 0];
+Bo=[1 -z0]';
+Co=[1 0];
+Do=0;
+
+// Desired poles
+Pd=[1 2 4];
+Pc=roots(Pd);
+
+
+// State feedback gain matrix for system zero at -2.0
+K=ppol(Ao,Bo,Pc)
+disp(K,"K=","State feeback gain for a system with zero at 2" )
+//------------------------------------------------------------------
+//Location of system Zero
+z0=-2.99
+B=[1 -z0]';
+// State feedback gain matrix for system zero...
+// at -2.99 (by ackermann's formula)
+exec('./acker_dk.sci', -1);
+K1=acker_dk(Ao,B,Pc)
+disp(K1,"K1","State feeback gain for a system with zero at -2.99")
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.18/Ex7_18.sce b/Working_Examples/3432/CH7/EX7.18/Ex7_18.sce
new file mode 100755
index 0000000..5be65a2
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.18/Ex7_18.sce
@@ -0,0 +1,56 @@
+//Example 7.18
+//Introducing the reference input.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Pendulum state model;
+w0=1;
+
+F=[0 1;-w0^2 0];
+G=[0 1]';
+H=[1 0]; //representing x1 and x2 states as outputs
+J=0;
+n=sqrt(length(F));
+
+//computing state feedback matrix to place poles at [-2 -2]
+exec('./acker_dk.sci', -1);
+K=acker_dk(F,G,[-2, -2]);
+//------------------------------------------------------------------
+//augmented matrix for tracking the reference
+A=[F G;H J];
+N=A\[zeros(1,n) 1]';
+Nx=N(1:n);
+Nu=N(n+1);
+
+//feedforward gain (input weight)
+Ntilde=Nu+K*Nx;
+
+//------------------------------------
+//Alternately, it can be computed as /
+Ntilde1=-inv(H*inv(F-G*K)*G); //     /
+//------------------------------------
+
+//Closed loop system and step response
+syscl=syslin('c',(F-G*K),G*Ntilde,H,J); //closed loop system
+
+t=0:0.1:7;
+[y x]=csim('step',t,syscl); //closed loop response
+plot(t',x');
+
+u=-K*x+Ntilde;
+plot(t',u'/4,'r--'); //control law u plot (scaled to 1/4 in figure);
+legend("x1","x2","u/4");
+xset('font size',3);
+xstring(5,0.93,"$x_{ss}$")
+xstring(5,0.25,"$u_{ss}$")
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Step response of undamped oscillator to reference input',...
+'fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel('Amplitude','fontsize',2);
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.18/Ex7_18_f0.pdf b/Working_Examples/3432/CH7/EX7.18/Ex7_18_f0.pdf
new file mode 100755
index 0000000..18e8af6
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.18/Ex7_18_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.19/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.19/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.19/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.19/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.19/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.19/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.19/Ex7_19.sce b/Working_Examples/3432/CH7/EX7.19/Ex7_19.sce
new file mode 100755
index 0000000..013575d
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.19/Ex7_19.sce
@@ -0,0 +1,56 @@
+//Example 7.19
+//Reference input to Type-1 control system: DC Motor
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+//Location of system Zero
+z0=2;
+
+// State space representation
+F=[0 1;0 -1];
+G=[0 1]';
+H=[1 0]; 
+J=0;
+n=sqrt(length(F)); //order of the system
+
+//computing state feedback matrix to place poles at assumed location [-1 -2]
+exec('./acker_dk.sci', -1);
+K=acker_dk(F,G,[-1, -2]); //assume pd=[-1 -2]
+//------------------------------------------------------------------
+//augmented matrix for tracking the reference
+A=[F G;H J];
+N=A\[zeros(1,n) 1]';
+Nx=N(1:n);
+Nu=N(n+1);
+disp(Nx,"Nx",Nu,"Nu")
+
+//feedforward gain (input weight)
+Ntilde=Nu+K*Nx;
+disp(Ntilde,"N_tilde","Input gain: N_tilde =Nu+K Nx")
+//------------------------------------------------------------------
+// Verify if ||y-r|| -> 0;
+
+syscl=syslin('c',(F-G*K),G*Ntilde,H,J); //closed loop system
+
+t=0:0.1:10;
+r=ones(1,length(t));//reference input
+[y x]=csim('step',t,syscl); //closed loop response
+
+e=sqrt((r-y).^2) //norm of error
+plot(t,y);
+plot(t,r,'m:'); //reference input
+plot(t,e,'r-.'); //norm of error
+xset('font size',3);
+xstring(3,0.83,"y")
+xstring(2,1,"r")
+xstring(3,0.1,"$\|e\|$")
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Step response of undamped oscillator to reference input','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel('Amplitude','fontsize',2);
+zoom_rect([0 -0.1 10 1.1])
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.19/Ex7_19_f0.pdf b/Working_Examples/3432/CH7/EX7.19/Ex7_19_f0.pdf
new file mode 100755
index 0000000..67707bc
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.19/Ex7_19_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.2.b/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.2.b/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.2.b/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.2.b/Ex7_2.sce b/Working_Examples/3432/CH7/EX7.2.b/Ex7_2.sce
new file mode 100755
index 0000000..3cffa9b
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.2.b/Ex7_2.sce
@@ -0,0 +1,36 @@
+//Example 7.2
+//Cruise control system step response.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+clc;
+//------------------------------------------------------------------
+//Cruise control system parameters
+m=1000;
+b=50;
+u=500;
+
+// Transfer function
+s=%s; // or 
+s=poly(0,'s');
+sys1=syslin('c',(1/m)/(s+b/m));
+disp(sys1)
+//------------------------------------------------------------------
+F=[0 1; 0 -b/m];
+G=[0;1/m];
+H=[0 1];
+J=0;
+sys=syslin('c',F,G,H,J);
+//------------------------------------------------------------------
+//step response to u=500;
+t=0:0.5:100;
+v=csim('step',t,u*sys);
+plot(t,v,2)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Responses of car velocity to a step in u','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.2.b/Ex7_2_f0.pdf b/Working_Examples/3432/CH7/EX7.2.b/Ex7_2_f0.pdf
new file mode 100755
index 0000000..4b40aab
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.2.b/Ex7_2_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.20/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.20/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.20/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.20/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.20/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.20/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.20/Ex7_20.sce b/Working_Examples/3432/CH7/EX7.20/Ex7_20.sce
new file mode 100755
index 0000000..14140dd
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.20/Ex7_20.sce
@@ -0,0 +1,79 @@
+//Example 7.20
+// Pole Placement as a Dominant Second-Order System
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+clc;
+clear all;
+
+// State space representation
+F=[0 2 0 0 0;-0.10 -0.35 0.1 0.1 0.75; 0 0 0 2 0;...
+ 0.4 0.4 -0.4 -1.4 0; 0 -0.03 0 0 -1];
+G=[0 0 0 0 1]';
+H=[0.5 0 0.5 0 0]; //Tape position at the head
+Ht=[-0.2 -0.2 0.2 0.2 0]; //Tension output
+J=0;
+n=sqrt(length(F))
+// Desired poles
+Pc=[-0.707+0.707*%i -0.707-0.707*%i -4 -4 -4]/1.5;
+//------------------------------------------------------------------
+// State feedback gain matrix via LQR (riccati equation)
+Q = eye(5,5);
+R =1
+// Riccati equation
+P=riccati(F, G*inv(R)*G', Q, 'c')
+K1=inv(R)*G'*P
+//------------------------------------------------------------------
+// State feedback gain matrix via pole-placement
+exec('./acker_dk.sci', -1);
+K2=acker_dk(F,G,Pc);
+disp(K2,'K2=',"Gain by ackermans formula" );
+//------------------------------------------------------------------
+Ntilde1=-inv(H*inv(F-G*K1)*G); //input gain for LQR feedback gain.
+Ntilde2=-inv(H*inv(F-G*K2)*G); //input gain for Ackerman's feedback gain.
+
+syscl1=syslin('c',(F-G*K1),G*Ntilde1,H,J); //closed loop system with K1
+syscl2=syslin('c',(F-G*K2),G*Ntilde2,H,J); //closed loop system with K2
+
+t=0:0.1:12;
+[y1 x1]=csim('step',t,syscl1); //response of position head with K1
+[y2 x2]=csim('step',t,syscl2); //response of position head with K2
+
+//plot of a position of read write head
+plot(t,y1,"m-."); //Design via LQR
+plot(t,y2,2); //Design via Ackerman's Formula
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Step response of tape servomotor designs','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel('Tape Posotion','fontsize',2);
+
+xstring(2.5,1.1,"LQR")
+xarrows([3;4],[1.1;0.95],-1,1)
+xstring(5,0.7,["Dominant";"second order"])
+xarrows([5;4.2],[0.8;0.9],-1.5,1)
+//------------------------------------------------------------------
+
+//response as a tape tension
+yt1=Ht*x1;
+yt2=Ht*x2;
+
+figure(1)
+plot(t,yt1,"m-."); //Design via LQR
+plot(t,yt2,2); //Design via Ackerman's Formula
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Tension plots for tape servomotor step responses','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel('Tape Tension','fontsize',2);
+
+xstring(3.5,0,"LQR")
+xarrows([3.7;4.7],[0;0],-1)
+xstring(6.1,-0.015,["Dominant";"second order"])
+xarrows([6;6],[-0.013;-0.002],-1)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.20/Ex7_20_f0.pdf b/Working_Examples/3432/CH7/EX7.20/Ex7_20_f0.pdf
new file mode 100755
index 0000000..3fe7ab6
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.20/Ex7_20_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.20/Ex7_20_f1.pdf b/Working_Examples/3432/CH7/EX7.20/Ex7_20_f1.pdf
new file mode 100755
index 0000000..2569de4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.20/Ex7_20_f1.pdf
diff --git a/Working_Examples/3432/CH7/EX7.21/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.21/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.21/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.21/Ex7_21.sce b/Working_Examples/3432/CH7/EX7.21/Ex7_21.sce
new file mode 100755
index 0000000..59ceda7
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.21/Ex7_21.sce
@@ -0,0 +1,42 @@
+//Example 7.21
+// Symmetric root locus (SRL) for servo speed control
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Transfer function model of the given system
+a=1.5;//assume
+s=poly(0,'s');
+nums=1;
+dens=s+a;
+num_s=1;
+den_s=-s+a;
+G0s=syslin('c',nums/dens); //G0(s)
+G0_s=syslin('c',num_s/den_s); //G0(-s)
+
+evans(G0s)
+evans(G0_s)
+zoom_rect([-3 -0.1 3 0.1])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Symmetric root locus for a first order system','fontsize',3);
+//------------------------------------------------------------------
+//Root locus design
+//rho>0; choose rho=2
+rho=2;
+//optimal pole p=-sqrt(a^2+rho)
+p=-sqrt(a^2+rho)
+sig=real(p);
+omega=imag(p);
+plot(sig,omega,'ro')
+xstring(-2.5,0.02,["pole location at";"$\rho=2$"])
+xarrows([-2.2;-2.07],[0.02;0.002],-1.5,1)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.21/Ex7_21_f0.pdf b/Working_Examples/3432/CH7/EX7.21/Ex7_21_f0.pdf
new file mode 100755
index 0000000..7ae1c59
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.21/Ex7_21_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.22/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.22/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.22/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.22/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.22/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.22/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.22/Ex7_22.sce b/Working_Examples/3432/CH7/EX7.22/Ex7_22.sce
new file mode 100755
index 0000000..4e277f6
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.22/Ex7_22.sce
@@ -0,0 +1,46 @@
+//Example 7.22
+// SRL design for satellite attitude control
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Transfer function for satellite attitude control system
+s=poly(0,'s');
+nums=1;
+dens=s^2;
+num_s=1;
+den_s=(-s)^2;
+G0s=syslin('c',nums/dens); //G0(s)
+G0_s=syslin('c',num_s/den_s); //G0(-s)
+//evans(G0s*G0_s)
+evans(1/s^4)
+zoom_rect([-3 -3 3 3])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Symmetric root locus for the satellite','fontsize',3);
+//------------------------------------------------------------------
+//Root locus design
+//choose rho=4.07 that places pole at -1+-j
+rho=4.07;
+chr_eqn=(1+rho*G0s*G0_s)
+p=[-1+%i, -1-%i];
+sig=real(p);
+omega=imag(p);
+plot(sig,omega,'ro')
+xstring(-2.2,0.5,["pole locations at";"$\rho=4.07$"])
+//------------------------------------------------------------------
+//pole-placement design;
+sys=tf2ss(G0s);
+exec('./acker_dk.sci', -1);
+K=acker_dk(sys.A,sys.B,p);
+syscl=syslin('c',(sys.A-sys.B*K),sys.B, sys.C, sys.D)
+disp(spec(syscl.A),"Closed loop eigen values");
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.22/Ex7_22_f0.pdf b/Working_Examples/3432/CH7/EX7.22/Ex7_22_f0.pdf
new file mode 100755
index 0000000..ebc7654
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.22/Ex7_22_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.23/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.23/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.23/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.23/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.23/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.23/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.23/Ex7_23.sce b/Working_Examples/3432/CH7/EX7.23/Ex7_23.sce
new file mode 100755
index 0000000..c2e1d2e
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.23/Ex7_23.sce
@@ -0,0 +1,70 @@
+//Example 7.23
+// SRL Design for an Inverted Pendulum 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+//Transfer function model of Inverted Pendulum.
+s=poly(0,'s');
+
+nums=-(s+2);
+dens=(s^2-1)
+num_s=-(-s+2);
+den_s=((-s)^2-1)
+G0s=syslin('c',nums/dens); //G0(s)
+G0_s=syslin('c',num_s/den_s); //G0(-s)
+sysGG=G0s*G0_s;
+evans(sysGG)
+title('Symmetric root locus for Inverted Pendulum')
+zoom_rect([-3 -2 3 2])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Symmetric root locus for the inverted pendulum','fontsize',3);
+//------------------------------------------------------------------
+//Root locus design
+//choose rho=1 that places pole at -1.36+-j0.606
+rho=1;
+p=[-1.36+0.606*%i, -1.36-0.606*%i];
+sig=real(p);
+omega=imag(p);
+plot(sig,omega,'ro')
+xstring(-1.25,0.5,["pole locations at";"$\rho=1$"])
+//------------------------------------------------------------------
+//pole-placement design;
+Ac=[0 1;1 0];Bc=[0 -1]'; Cc=[2 1];Dc=0;
+exec('./acker_dk.sci', -1);
+K=acker_dk(Ac,Bc,p);
+disp(K,"K=",spec(Ac-Bc*K),"Closed loop eigen values");
+
+//input gain calculation
+n=sqrt(length(Ac));
+A=[Ac Bc;Cc Dc];
+N=A\[zeros(1,n) 1]';
+Nx=N(1:n);
+Nu=N(n+1);
+
+//feedforward gain (input gain)
+Ntilde=Nu+K*Nx;
+
+//Step respose
+t=0:0.1:4.5;
+syscl=syslin('c',(Ac-Bc*K),Bc*Ntilde, Cc, Dc)
+[y x]=csim('step',t,syscl); //closed loop response
+figure,
+plot(t,y);
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Step response for inverted pendulum','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel(["Position","$x_1$"],'fontsize',2);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.23/Ex7_23_f0.pdf b/Working_Examples/3432/CH7/EX7.23/Ex7_23_f0.pdf
new file mode 100755
index 0000000..ec5d199
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.23/Ex7_23_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.23/Ex7_23_f1.pdf b/Working_Examples/3432/CH7/EX7.23/Ex7_23_f1.pdf
new file mode 100755
index 0000000..0caae04
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.23/Ex7_23_f1.pdf
diff --git a/Working_Examples/3432/CH7/EX7.24/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.24/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.24/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.24/Ex7_24.sce b/Working_Examples/3432/CH7/EX7.24/Ex7_24.sce
new file mode 100755
index 0000000..a816cd7
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.24/Ex7_24.sce
@@ -0,0 +1,108 @@
+//Example 7.24
+// LQR Design for a Tape Drive
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model for a Tape Drive
+F=[0 2 0 0 0;-0.10 -0.35 0.1 0.1 0.75; 0 0 0 2 0; 0.4 0.4 -0.4 -1.4 0; 0 -0.03 0 0 -1];
+G=[0 0 0 0 1]';
+H3=[0.5 0 0.5 0 0];
+//------------------------------------------------------------------
+// State feedback gain matrix via LQR (riccati equation)
+// (a) Continuous LQR for rho=1
+rho=1;
+R1=1;
+Q1=rho*H3'*H3;
+// Riccati equation
+P1=riccati(F, G*inv(R1)*G', Q1, 'c')
+K1=inv(R1)*G'*P1
+disp(K1,'K1')
+//------------------------------------------------------------------
+// State feedback gain matrix via LQR (riccati equation)
+// (a) Comparision in step response with rho=0.1,1,10.
+rho=0.1;
+R2=1;
+Q2=rho*H3'*H3;
+// Riccati equation
+P2=riccati(F, G*inv(R2)*G', Q2, 'c')
+K2=inv(R2)*G'*P2
+
+rho=10;
+R3=1;
+Q3=rho*H3'*H3;
+// Riccati equation
+P3=riccati(F, G*inv(R3)*G', Q3, 'c')
+K3=inv(R3)*G'*P3
+//------------------------------------------------------------------
+//input gains for step reference with rho=0.1,1,10.
+Ntilde1=-inv(H3*inv(F-G*K1)*G);
+Ntilde2=-inv(H3*inv(F-G*K2)*G);
+Ntilde3=-inv(H3*inv(F-G*K3)*G);
+
+//Closed loop system with rho=0.1,1,10.
+syscl1=syslin('c',(F-G*K1),G*Ntilde1,H3,0);
+syscl2=syslin('c',(F-G*K2),G*Ntilde2,H3,0);
+syscl3=syslin('c',(F-G*K3),G*Ntilde3,H3,0);
+
+//step response with rho=0.1,1,10.
+t=0:0.1:12;
+[y1 x1]=csim('step',t,syscl1); //closed loop response
+[y2 x2]=csim('step',t,syscl2); //closed loop response
+[y3 x3]=csim('step',t,syscl3); //closed loop response
+
+figure,
+a1=newaxes();
+a1.axes_bounds=[0,0,1.0,0.5];
+plot(t,y1);
+plot(t,y2,'r-.');
+plot(t,y3,'m:');
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('(a)Step response of step servo motor for LQR Design','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel(["Tape Position","$x_3$"],'fontsize',2);
+
+xstring(4.1,0.85,"$\rho=1$")
+xstring(5.5,0.75,"$\rho=0.1$")
+xstring(2.1,1.05,"$\rho=10$")
+//------------------------------------------------------------------
+//Tensions for the Tape
+//For tape output is Ht=[-0.2 -0.2 0.2 0.2 0];
+Ht=[-0.2 -0.2 0.2 0.2 0];
+H3=Ht;
+//input gains can not be computed because of singularity. so set it 1;
+Ntilde1=1;
+Ntilde2=1;
+Ntilde3=1;
+
+//Closed loop system with rho=0.1,1,10.
+syscl1=syslin('c',(F-G*K1),G*Ntilde1,H3,0);
+syscl2=syslin('c',(F-G*K2),G*Ntilde2,H3,0);
+syscl3=syslin('c',(F-G*K3),G*Ntilde3,H3,0);
+
+//step response with rho=0.1,1,10.
+t=0:0.1:12;
+[y1 x1]=csim('step',t,syscl1); //closed loop response
+[y2 x2]=csim('step',t,syscl2); //closed loop response
+[y3 x3]=csim('step',t,syscl3); //closed loop response
+
+a2=newaxes();
+a2.axes_bounds=[0,0.5,1.0,0.5];
+plot(t,y1);
+plot(t,y2,'r-.');
+plot(t,y3,'m:');
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('(b)Corresponding tension for Tape servomotor step response','fontsize',3);
+xlabel('Time t (sec.)','fontsize',2);
+ylabel(["Tape Tension","T"],'fontsize',2);
+
+
+xstring(4.3,-0.05,"$\rho=1$")
+xstring(6,-0.1,"$\rho=0.1$")
+xstring(1.5,-0.03,"$\rho=10$")
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.24/Ex7_24_f0.pdf b/Working_Examples/3432/CH7/EX7.24/Ex7_24_f0.pdf
new file mode 100755
index 0000000..b91050f
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.24/Ex7_24_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.25/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.25/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.25/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.25/Ex7_25.sce b/Working_Examples/3432/CH7/EX7.25/Ex7_25.sce
new file mode 100755
index 0000000..0128a2f
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.25/Ex7_25.sce
@@ -0,0 +1,52 @@
+//Example 7.25
+// An estimator design for a simple pendulum
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space representation
+w0=1;
+F=[0 1; -w0^2 0];
+G=[0 1]';
+H=[1 0];
+J=0;
+n=sqrt(length(F));//order of the system
+// Desired estimator poles
+Pe=[-10*w0 -10*w0];
+// Observer gain matrix for system 
+Lt=ppol(F',H',Pe);
+L=Lt';
+disp(L,"L=" );
+//------------------------------------------------------------------
+//simulation for closed loop system
+x0=[1 0]' //initial condition
+
+//State feedback control law u=-Kx; (from Ex7_15)
+K=[3*w0^2 4*w0];
+//------------------------------------------------------------------
+//Augmented plant and observer
+Faug=[F-G*K, zeros(n,n); L*H, F-L*H];
+Gaug=[0 0 0 0]';
+Haug=[H -H];
+Jaug=0;
+
+sys_aug=syslin('c',Faug,Gaug,Haug,Jaug);
+t=0:0.1:4;
+u=zeros(1,length(t));
+x0=[1 0 0 0]';
+[x z]=csim(u,t,sys_aug,x0); //closed loop response
+plot(t,z(1,:));
+plot(t,z(2,:),'m');
+plot(t,z(3,:),'b:');
+plot(t,z(4,:),'m:');
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Initial condition response of oscillator showing',...
+'$\mathbf{x}$','and','$\hat{\mathbf{x}}$'],'fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+legend('$x_1$','$x_2$','$\hat{x}_1$','$\hat{x}_2$')
+xset('font size',2)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.25/Ex7_25_f0.pdf b/Working_Examples/3432/CH7/EX7.25/Ex7_25_f0.pdf
new file mode 100755
index 0000000..e24633f
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.25/Ex7_25_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.26/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.26/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.26/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.26/Ex7_26.sce b/Working_Examples/3432/CH7/EX7.26/Ex7_26.sce
new file mode 100755
index 0000000..7485ee2
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.26/Ex7_26.sce
@@ -0,0 +1,55 @@
+//Example 7.26
+// A reduced order estimator design for pendulum
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space representation
+w0=1;
+F=[0 1; -w0^2 0];
+G=[0 1]';
+H=[1 0];
+J=0;
+n=sqrt(length(F));//order of the system
+
+//partioned system
+Faa=F(1,1); Fab=F(1,2);
+Fba=F(2,1); Fbb=F(2,2);
+
+// Desired estimator poles
+Pe=[-10];
+// Observer gain matrix for system 
+L=ppol(Fbb',Fab',Pe);
+L=L';
+disp(L,"L=" );
+//------------------------------------------------------------------
+//simulation for closed loop system
+x0=[1 0 10]' //initial condition
+
+//State feedback control law u=-Kx; (from Ex7_15)
+K=[3*w0^2 4*w0];
+//------------------------------------------------------------------
+//Augmented plant and observer
+Faug=[F-G*K, zeros(n,1); Fab, L*Fab, Fbb-L*Fab];
+Gaug=[0 0 0]';
+Haug=[H 0];
+J=0;
+
+sys_aug=syslin('c',Faug,Gaug,Haug,J);
+t=0:0.1:4;
+u=zeros(1,length(t));
+[x z]=csim(u,t,sys_aug,x0); //closed loop response
+plot(t,z(1,:),'b');
+plot(t,z(2,:),'r');
+plot(t,z(3,:),'r--');
+
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Initial condition response of the reduced order estimator','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+legend('$x_1$','$x_2$','$\hat{x}_2$')
+xset('font size',2)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.26/Ex7_26_f0.pdf b/Working_Examples/3432/CH7/EX7.26/Ex7_26_f0.pdf
new file mode 100755
index 0000000..96d9f50
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.26/Ex7_26_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.27/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.27/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.27/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.27/Ex7_27.sce b/Working_Examples/3432/CH7/EX7.27/Ex7_27.sce
new file mode 100755
index 0000000..8c3c51a
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.27/Ex7_27.sce
@@ -0,0 +1,41 @@
+//Example 7.27
+// SRL estimator design for a simple pendulum
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space representation
+F=[0 1; -1 0];
+G=[0 1]';
+H=[1 0];
+J=0;
+
+//Transfer function
+sys=syslin('c',F,G,H,J)
+sysGG=ss2tf(sys)
+
+//Symmetric root locus for the inverted pendulum estimator design
+//------------------------------------------------------------------
+//Root locus design
+evans(sysGG*sysGG)
+zoom_rect([-5 -5 5 5])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Symmetric root locus for inverted the pendulum estimator design',...
+'fontsize',3);
+//------------------------------------------------------------------
+//pole locations for q=365; p=-3+-j3.18
+p=[-3+3.18*%i -3-3.18*%i]
+sig=real(p);
+omega=imag(p);
+plot(sig,omega,'ro')
+xstring(-4,1,["pole location at";"q=365"])
+xarrows([-3.5;-3.05],[2;3.1],-1.5,1)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.27/Ex7_27_f0.pdf b/Working_Examples/3432/CH7/EX7.27/Ex7_27_f0.pdf
new file mode 100755
index 0000000..ad30cd9
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.27/Ex7_27_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.28/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.28/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.28/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.28/DEPENDENCIES/zpk_dk.sci b/Working_Examples/3432/CH7/EX7.28/DEPENDENCIES/zpk_dk.sci
new file mode 100755
index 0000000..95b4e6c
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.28/DEPENDENCIES/zpk_dk.sci
@@ -0,0 +1,43 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//p=zpk_dk(sl)
+//[p, z]=zpk_dk(sl)
+//[p, z, k]=zpk_dk(sl)
+//p:- Poles of the system
+//z:- zeros of the system
+//k:- DC gain of the system
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function[pl,zr,k]=zpk_dk(sysmodel)
+    [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+     disp(["p=zpk_dk(sl)";"[p, z]=zpk_dk(sl)";"[p, z, k]=zpk_dk(sl)"]);
+     disp(["p:- Poles of the system";"z:- zeros of the system"]);
+     disp("k:- DC gain of the system");
+     return;
+    end
+    
+    if typeof(sysmodel)=="rational" then
+        sys=tf2ss(sysmodel);
+        pl=spec(sys.A);
+        zr=trzeros(sys);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=sysmodel/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D;
+    elseif typeof(sysmodel)=="state-space" then
+        pl=spec(sysmodel.A);
+        zr=trzeros(sysmodel);
+        g=ss2tf(sysmodel);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=g/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D
+    else
+        error("Wrong type of input argument.")
+    end 
+endfunction
diff --git a/Working_Examples/3432/CH7/EX7.28/Ex7_28.sce b/Working_Examples/3432/CH7/EX7.28/Ex7_28.sce
new file mode 100755
index 0000000..18d705b
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.28/Ex7_28.sce
@@ -0,0 +1,61 @@
+//Example 7.28
+// Full order compensator design for satellite attitude control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+A=[0 1; 0 0];
+B=[0 1]';
+C=[1 0];
+D=0;
+n=sqrt(length(A));
+//Desired poles for the satellite attitude control system.
+Pc=[-0.707+0.707*%i -0.707-0.707*%i ]
+
+// State feedback gain
+K=ppol(A,B,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-2.5+4.3*%i -2.5-4.3*%i]
+L=ppol(A',C',Pe);
+L=L';
+disp(L,'L=',"Observer gain")
+//------------------------------------------------------------------
+//Compensator Design
+sys1=syslin('c',A,B,C,D);
+G=ss2tf(sys1);
+s=poly(0,'s');
+
+Ds=-K*inv(s*eye(n,n)-A+B*K+L*C)*L;
+
+exec('./zpk_dk.sci', -1);
+[pl,zr Kp]=zpk_dk(Ds);
+D=poly(zr,'s','roots')/poly(pl,'s','roots')
+
+evans(G*D)
+zoom_rect([-8 -6 8 6])
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Root locus for combined control and estimator,...
+ with process gain as the parameter','fontsize',3);
+//------------------------------------------------------------------
+//Frequnecy response for 1/s^2 and compensated
+
+figure,
+bode([-Ds*G;G],0.01/2/%pi,100/2/%pi,"rad");
+title(["Frequency response for","$G(s)=1/s^2$"],'fontsize',3)
+legend('Compensated','Uncompensated')
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.28/Ex7_28_f0.pdf b/Working_Examples/3432/CH7/EX7.28/Ex7_28_f0.pdf
new file mode 100755
index 0000000..2f2a244
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.28/Ex7_28_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.28/Ex7_28_f1.pdf b/Working_Examples/3432/CH7/EX7.28/Ex7_28_f1.pdf
new file mode 100755
index 0000000..8d63110
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.28/Ex7_28_f1.pdf
diff --git a/Working_Examples/3432/CH7/EX7.29/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.29/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.29/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.29/DEPENDENCIES/zpk_dk.sci b/Working_Examples/3432/CH7/EX7.29/DEPENDENCIES/zpk_dk.sci
new file mode 100755
index 0000000..95b4e6c
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.29/DEPENDENCIES/zpk_dk.sci
@@ -0,0 +1,43 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//p=zpk_dk(sl)
+//[p, z]=zpk_dk(sl)
+//[p, z, k]=zpk_dk(sl)
+//p:- Poles of the system
+//z:- zeros of the system
+//k:- DC gain of the system
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function[pl,zr,k]=zpk_dk(sysmodel)
+    [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+     disp(["p=zpk_dk(sl)";"[p, z]=zpk_dk(sl)";"[p, z, k]=zpk_dk(sl)"]);
+     disp(["p:- Poles of the system";"z:- zeros of the system"]);
+     disp("k:- DC gain of the system");
+     return;
+    end
+    
+    if typeof(sysmodel)=="rational" then
+        sys=tf2ss(sysmodel);
+        pl=spec(sys.A);
+        zr=trzeros(sys);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=sysmodel/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D;
+    elseif typeof(sysmodel)=="state-space" then
+        pl=spec(sysmodel.A);
+        zr=trzeros(sysmodel);
+        g=ss2tf(sysmodel);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=g/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D
+    else
+        error("Wrong type of input argument.")
+    end 
+endfunction
diff --git a/Working_Examples/3432/CH7/EX7.29/Ex7_29.sce b/Working_Examples/3432/CH7/EX7.29/Ex7_29.sce
new file mode 100755
index 0000000..a0c4794
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.29/Ex7_29.sce
@@ -0,0 +1,74 @@
+//Example 7.29
+// A reduced order compensator design for a satellite attitude control
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space representation
+F=[0 1;0 0];
+G=[0 1]';
+H=[1 0];
+J=0;
+n=sqrt(length(F));//order of the system
+
+//partioned system
+Faa=F(1,1); Fab=F(1,2);
+Fba=F(2,1); Fbb=F(2,2);
+Ga=G(1);Gb=G(2);
+
+// Desired estimator poles
+Pe=[-5];
+// Observer gain matrix for system 
+L=ppol(Fbb',Fab',Pe);
+L=L';
+disp(L,"L=" );
+//------------------------------------------------------------------
+//State feedback control law u=-Kx=-(K+[L*k2 0])[y xc]'; 
+k1=1; k2=sqrt(2);
+K=[k1 k2];
+Kc=K+[L*k2 0];
+//------------------------------------------------------------------
+//compensator differential equation
+//xc_dot=(Fbb-L*Fab)*xb_hat + (Fba - L*Faa)*y + (Gb - L*Ga)*u
+//xc_dot=((Fbb-L*Fab)-k2)*xc + [(Fba - L*Faa)-(Gb - L*Ga)*(k1+L*k2)+L*(Fbb-L*Fab)]*y 
+Fc=(Fbb-L*Fab)-Gb*k2
+Fy=(Fba - L*Faa)-(Gb - L*Ga)*(k1+k2*L)+(Fbb-L*Fab)*L
+//compensator transfer function
+s=poly(0,'s');
+Gest=syslin('c',Fy/(s-Fc))//estimator transfer function
+Dcr=-[k1+L*k2+k2*Gest]
+disp(Dcr,'Dcr','compensator transfer function')
+//------------------------------------------------------------------
+//Root locus with reduced order compensator
+G=1/s^2;
+G=syslin('c',G);
+exec('./zpk_dk.sci', -1);
+[pl,zr Kp]=zpk_dk(Dcr);
+
+Dcr=poly(zr,'s','roots')/poly(pl,'s','roots')
+Dcr=syslin('c',Dcr);
+evans(G*Dcr)
+zoom_rect([-8 -4  2 4])
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Root locus of a reduced order controller and',"$1/s^2$",...
+ "process"],'fontsize',3);
+//------------------------------------------------------------------
+//Frequnecy response for 1/s^2 and compensated
+
+figure,
+bode([-Kp*G*Dcr;G],0.01/2/%pi,100/2/%pi,"rad");
+title(["Frequency response","$G(s)=1/s^2$", "with a reduced...
+ order estimator"],'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend('Compensated','Uncompensated')
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.29/Ex7_29_f0.pdf b/Working_Examples/3432/CH7/EX7.29/Ex7_29_f0.pdf
new file mode 100755
index 0000000..c2a23bb
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.29/Ex7_29_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.29/Ex7_29_f1.pdf b/Working_Examples/3432/CH7/EX7.29/Ex7_29_f1.pdf
new file mode 100755
index 0000000..5b330b9
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.29/Ex7_29_f1.pdf
diff --git a/Working_Examples/3432/CH7/EX7.30/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.30/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.30/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.30/DEPENDENCIES/zpk_dk.sci b/Working_Examples/3432/CH7/EX7.30/DEPENDENCIES/zpk_dk.sci
new file mode 100755
index 0000000..95b4e6c
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.30/DEPENDENCIES/zpk_dk.sci
@@ -0,0 +1,43 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//p=zpk_dk(sl)
+//[p, z]=zpk_dk(sl)
+//[p, z, k]=zpk_dk(sl)
+//p:- Poles of the system
+//z:- zeros of the system
+//k:- DC gain of the system
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function[pl,zr,k]=zpk_dk(sysmodel)
+    [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+     disp(["p=zpk_dk(sl)";"[p, z]=zpk_dk(sl)";"[p, z, k]=zpk_dk(sl)"]);
+     disp(["p:- Poles of the system";"z:- zeros of the system"]);
+     disp("k:- DC gain of the system");
+     return;
+    end
+    
+    if typeof(sysmodel)=="rational" then
+        sys=tf2ss(sysmodel);
+        pl=spec(sys.A);
+        zr=trzeros(sys);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=sysmodel/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D;
+    elseif typeof(sysmodel)=="state-space" then
+        pl=spec(sysmodel.A);
+        zr=trzeros(sysmodel);
+        g=ss2tf(sysmodel);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=g/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D
+    else
+        error("Wrong type of input argument.")
+    end 
+endfunction
diff --git a/Working_Examples/3432/CH7/EX7.30/Ex7_30.sce b/Working_Examples/3432/CH7/EX7.30/Ex7_30.sce
new file mode 100755
index 0000000..99e6aae
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.30/Ex7_30.sce
@@ -0,0 +1,73 @@
+//Example 7.30
+// Full-Order Compensator Design for DC Servo.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0];
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-1.42 -1.04+2.14*%i -1.04-2.14*%i ]
+
+
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-4.25 -3.13+6.41*%i -3.13-6.41*%i]
+L=ppol(F',H',Pe);
+L=L';
+disp(L,'L=',"Observer gain")
+//------------------------------------------------------------------
+//Compensator Design
+DK=-K*inv(s*eye(n,n)-F+G*K+L*H)*L;
+
+exec('./zpk_dk.sci', -1);
+[p,z]=zpk_dk(DK);
+D=poly(z,'s','roots')/poly(p,'s','roots')
+
+evans(Gs*D)
+zoom_rect([-8 -9 3 9])
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for DC servo pole assignment','fontsize',3);
+//------------------------------------------------------------------
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.30/Ex7_30_f0.pdf b/Working_Examples/3432/CH7/EX7.30/Ex7_30_f0.pdf
new file mode 100755
index 0000000..65b7d85
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.30/Ex7_30_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.31/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.31/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.31/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.31/Ex7_31.sce b/Working_Examples/3432/CH7/EX7.31/Ex7_31.sce
new file mode 100755
index 0000000..7e59556
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.31/Ex7_31.sce
@@ -0,0 +1,83 @@
+//Example 7.31
+// Reduced-Order Estimator Design for DC Servo.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0]
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-1.42 -1.04+2.14*%i -1.04-2.14*%i ]
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//------------------------------------------------------------------
+//Estimator - error roots are at
+//partioned system
+Faa=F(1,1); Fab=F(1,2:3);
+Fba=F(3,1); Fbb=F(2:3,2:3);
+Ga=G(1);Gb=G(2:3);
+
+Pe=[-4.24+4.24*%i, -4.24-4.24*%i]
+// Observer gain matrix for system 
+L=ppol(Fbb',Fab',Pe);
+L=L';
+disp(L,"L=" );
+//------------------------------------------------------------------
+
+//State feedback control law u=-Kx=-(K+[L*k2 0])[y xc]'; 
+k1=K(1); k2=K(2:3);
+
+//------------------------------------------------------------------
+//compensator transfer function
+s=poly(0,'s');
+num=(-0.735+s)*(1.871+s);
+den=poly([-0.990 + 6.12* %i, -0.990 - 6.12* %i] ,'s','roots')
+Dcr=syslin('c',num/den);
+disp(Dcr,'Dcr','compensator transfer function')
+//------------------------------------------------------------------
+//Root locus with reduced order compensator
+evans(-Dcr*Gs)
+zoom_rect([-8 -9 3 9])
+
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for DC servo reduced order controller','fontsize',3);
+//------------------------------------------------------------------
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.31/Ex7_31_f0.pdf b/Working_Examples/3432/CH7/EX7.31/Ex7_31_f0.pdf
new file mode 100755
index 0000000..98c3a42
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.31/Ex7_31_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.32/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.32/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.32/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.32/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.32/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.32/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.32/DEPENDENCIES/zpk_dk.sci b/Working_Examples/3432/CH7/EX7.32/DEPENDENCIES/zpk_dk.sci
new file mode 100755
index 0000000..95b4e6c
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.32/DEPENDENCIES/zpk_dk.sci
@@ -0,0 +1,43 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//p=zpk_dk(sl)
+//[p, z]=zpk_dk(sl)
+//[p, z, k]=zpk_dk(sl)
+//p:- Poles of the system
+//z:- zeros of the system
+//k:- DC gain of the system
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function[pl,zr,k]=zpk_dk(sysmodel)
+    [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+     disp(["p=zpk_dk(sl)";"[p, z]=zpk_dk(sl)";"[p, z, k]=zpk_dk(sl)"]);
+     disp(["p:- Poles of the system";"z:- zeros of the system"]);
+     disp("k:- DC gain of the system");
+     return;
+    end
+    
+    if typeof(sysmodel)=="rational" then
+        sys=tf2ss(sysmodel);
+        pl=spec(sys.A);
+        zr=trzeros(sys);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=sysmodel/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D;
+    elseif typeof(sysmodel)=="state-space" then
+        pl=spec(sysmodel.A);
+        zr=trzeros(sysmodel);
+        g=ss2tf(sysmodel);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=g/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D
+    else
+        error("Wrong type of input argument.")
+    end 
+endfunction
diff --git a/Working_Examples/3432/CH7/EX7.32/Ex7_32.sce b/Working_Examples/3432/CH7/EX7.32/Ex7_32.sce
new file mode 100755
index 0000000..ca11844
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.32/Ex7_32.sce
@@ -0,0 +1,122 @@
+//Example 7.32
+// Redesign of the Dc servo compensator using SRL
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0]
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-2+1.56*%i -2-1.56*%i -8.04]
+
+
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-4+4.49*%i -4-4.49*%i -9.169]
+exec .\acker_dk.sci;
+Lt=ppol(F',H',Pe);
+L=clean(Lt');
+disp(L,'L=',"Observer gain")
+//Error in book, Gain values are different in book.
+//------------------------------------------------------------------
+//Compensator Design
+DK=-K*inv(s*eye(n,n)-F+G*K+L*H)*L;
+DK=syslin('c',DK)
+exec('./zpk_dk.sci', -1);
+[pl,zr,Kp]=zpk_dk(DK);
+Dc=poly(zr,'s','roots')/poly(pl,'s','roots')
+//------------------------------------------------------------------
+//symmetric root locus 
+G_s=horner(Gs,-s);
+evans(Gs*G_s)
+zoom_rect([-10 -5 10 5])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Symmetric root locus','fontsize',3);
+//------------------------------------------------------------------
+//root locus 
+figure,
+evans(Gs*Dc) //Correct root locus
+zoom_rect([-11 -6 1 6])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for pole assignment from the SRL','fontsize',3);
+//------------------------------------------------------------------
+//Discrete-time controller
+nc=94.5*conv([7.98 1],[2.52 1])
+dc=conv([59.5348 8.56 1],[10.6 1])
+sysDc=poly(nc,'s','coeff')/poly(dc,'s','coeff');
+sysDc_ss=syslin('c',tf2ss(sysDc));
+ts=0.1;
+sysDd=dscr(sysDc_ss,ts)
+Gdz=ss2tf(sysDd);
+
+disp(sysDc,"Continuous-time compensator")
+disp(Gdz,"Discrete-time compensator")
+//------------------------------------------------------------------
+//step responses
+importXcosDiagram(".\Ex7_32_model.xcos")
+
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure,
+plot(yt.time,yt.values(:,1),2)
+plot(yt.time,yt.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('y');
+title("Comaprison of step responses for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller",4)
+
+//Control inputs
+figure,
+plot(ut.time,ut.values(:,1),2)
+plot(ut.time,ut.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('u');
+title("Comaprison of control signals for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller")
+//------------------------------------------------------------------
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.32/Ex7_32_f0.pdf b/Working_Examples/3432/CH7/EX7.32/Ex7_32_f0.pdf
new file mode 100755
index 0000000..10af892
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.32/Ex7_32_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.32/Ex7_32_f2.pdf b/Working_Examples/3432/CH7/EX7.32/Ex7_32_f2.pdf
new file mode 100755
index 0000000..0c39c39
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.32/Ex7_32_f2.pdf
diff --git a/Working_Examples/3432/CH7/EX7.32/Ex7_32_model.xcos b/Working_Examples/3432/CH7/EX7.32/Ex7_32_model.xcos
new file mode 100755
index 0000000..7f778e4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.32/Ex7_32_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="5.0" title="Ex7_32_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20160406 2040--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="10"/><data column="0" line="1" value="16*s + 10*s^2 + s^3 "/></ScilabString><ScilabDouble as="realParameters" height="16" width="1"><data column="0" line="0" realPart="0.0"/><data column="0" line="1" realPart="0.0"/><data column="0" line="2" realPart="-0.0"/><data column="0" line="3" realPart="1.0"/><data column="0" line="4" realPart="0.0"/><data column="0" 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source="-5c6e81bd:14e42b54a0f:-7d01" target="-7f3f8309:16686c89bf7:-7eb8"><mxGeometry as="geometry"><Array as="points" scilabClass=""><mxPoint x="1040.0" y="100.0"/><mxPoint x="1040.0" y="100.0"/><mxPoint x="1040.0" y="150.0"/><mxPoint x="990.0" y="150.0"/></Array></mxGeometry></CommandControlLink><CommandControlLink id="-7f3f8309:16686c89bf7:-7eb4" parent="-2dd55334:14dcbdd0183:-7fd3" source="-7f3f8309:16686c89bf7:-7eb7" target="-7f3f8309:16686c89bf7:-7ddf"><mxGeometry as="geometry"><Array as="points" scilabClass=""><mxPoint x="990.0" y="70.0"/><mxPoint x="990.0" y="20.0"/><mxPoint x="830.0" y="20.0"/></Array></mxGeometry></CommandControlLink><CommandControlLink id="-7f3f8309:16686c89bf7:-7eba" parent="-2dd55334:14dcbdd0183:-7fd3" source="-7f3f8309:16686c89bf7:-7eb6" target="-7f3f8309:16686c89bf7:-7d8b"><mxGeometry as="geometry"><mxPoint as="sourcePoint" x="820.0" y="210.0"/><mxPoint as="targetPoint" x="990.0" y="140.0"/><Array as="points" scilabClass=""><mxPoint x="990.0" y="170.0"/><mxPoint x="820.0" y="170.0"/></Array></mxGeometry></CommandControlLink></root></mxGraphModel><mxCell as="defaultParent" id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><mxPoint as="origin" y="-2.0"/></XcosDiagram>
+\ No newline at end of file
diff --git a/Working_Examples/3432/CH7/EX7.33/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.33/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.33/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.33/DEPENDENCIES/zpk_dk.sci b/Working_Examples/3432/CH7/EX7.33/DEPENDENCIES/zpk_dk.sci
new file mode 100755
index 0000000..95b4e6c
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.33/DEPENDENCIES/zpk_dk.sci
@@ -0,0 +1,43 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//p=zpk_dk(sl)
+//[p, z]=zpk_dk(sl)
+//[p, z, k]=zpk_dk(sl)
+//p:- Poles of the system
+//z:- zeros of the system
+//k:- DC gain of the system
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function[pl,zr,k]=zpk_dk(sysmodel)
+    [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+     disp(["p=zpk_dk(sl)";"[p, z]=zpk_dk(sl)";"[p, z, k]=zpk_dk(sl)"]);
+     disp(["p:- Poles of the system";"z:- zeros of the system"]);
+     disp("k:- DC gain of the system");
+     return;
+    end
+    
+    if typeof(sysmodel)=="rational" then
+        sys=tf2ss(sysmodel);
+        pl=spec(sys.A);
+        zr=trzeros(sys);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=sysmodel/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D;
+    elseif typeof(sysmodel)=="state-space" then
+        pl=spec(sysmodel.A);
+        zr=trzeros(sysmodel);
+        g=ss2tf(sysmodel);
+        temp1=poly(zr,'s','roots')/poly(pl,'s','roots');
+        temp2=g/temp1;
+        temp3=tf2ss(temp2);
+        k=temp3.D
+    else
+        error("Wrong type of input argument.")
+    end 
+endfunction
diff --git a/Working_Examples/3432/CH7/EX7.33/Ex7_33.sce b/Working_Examples/3432/CH7/EX7.33/Ex7_33.sce
new file mode 100755
index 0000000..46c2f6a
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.33/Ex7_33.sce
@@ -0,0 +1,47 @@
+//Example 7.33
+// DC servo system redesign with modified with dominant second
+// order pole locations.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0]
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-1.41+1.41*%i -1.41-1.41*%i -8]
+
+
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-4.24+4.24*%i -4.24-4.24*%i -8]
+exec .\acker_dk.sci;
+Lt=ppol(F',H',Pe);
+L=clean(Lt');
+disp(L,'L=',"Observer gain")
+//Error in book, Gain values are different in book.
+//------------------------------------------------------------------
+//Compensator Design
+DK=-K*inv(s*eye(n,n)-F+G*K+L*H)*L;
+DK=syslin('c',DK)
+exec('./zpk_dk.sci', -1);
+[pl,zr,Kp]=zpk_dk(DK*10);
+disp(zr,"zeros",pl,"Poles",Kp*10,"Gain(includung system gain)")
+Dcs=poly(zr,'s','roots')/poly(pl,'s','roots')
+disp(Dcs,'Dcs=',"Compensator transfer function")
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.34/Ex7_34.sce b/Working_Examples/3432/CH7/EX7.34/Ex7_34.sce
new file mode 100755
index 0000000..2e77ebe
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/Ex7_34.sce
@@ -0,0 +1,110 @@
+//Example 7.34
+// Servomechanism, increasing the velocity constant through
+// zero assignment. 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=1;
+den=s*(s+1);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[0 1;0 -1]
+G=[0 1]';
+H=[1 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-2 -2]
+
+// State feedback gain
+exec .\acker_dk.sci;
+K=acker_dk(F,G,Pc)//Gain computed in book is incorrect.
+disp(K,'K=',"State feedback gain")
+//------------------------------------------------------------------
+//Overall transfer function with reduced order estimator.
+Gred=8.32*(0.096+s)/(0.1 +s)/(8 + 4*s+s^2)
+Gred=syslin('c',Gred)
+disp(Gred,'Ys/Rs',"Overall transfer function with reduced...
+ order estimator")
+
+//Compensator
+D=(0.096+s)*(s+1)/(4.08 +s)/(0.0196+s)
+Ds=syslin('c',D*8.32)
+disp(Ds,'Ds=',"Compensator transfer function")
+//------------------------------------------------------------------
+//root locus 
+figure(0)
+evans(D*Gs,100) //Correct root locus
+zoom_rect([-0.2 -0.1 0.1 0.1])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus of lag-lead compensation','fontsize',3);
+//------------------------------------------------------------------
+//Bode plot
+figure(1)
+bode(Ds*Gs,0.01/2/%pi,100/2/%pi,"rad") //Correct root locus
+
+f=gca();
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Frequency response of lag-lead compensation','fontsize',3);
+//------------------------------------------------------------------
+//step response of the system with lag compensation
+t=0:0.1:5;
+ylag=csim('step',t,8.32*Gs*D/(1+8.32*Gs*D));
+figure
+plot(t,ylag,2);
+xlabel('Time (sec)');
+ylabel('y');
+title("Step response of the system with lag compensation",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+//Discrete-time controller
+sysDc_ss=syslin('c',tf2ss(Ds));
+ts=0.1;
+sysDd=dscr(sysDc_ss,ts)
+Gdz=ss2tf(sysDd)
+
+disp(Gdz,"Discrete-time compensator")
+//------------------------------------------------------------------
+//step responses comparision
+importXcosDiagram(".\Ex7_34_model.xcos")
+
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure,
+plot(yt.time,yt.values(:,1),2)
+plot(yt.time,yt.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('y');
+title("Comaprison of step responses for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller",4)
+
+//Control inputs
+figure,
+plot(ut.time,ut.values(:,1),2)
+plot(ut.time,ut.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('u');
+title("Comaprison of control signals for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller")
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.34/Ex7_34_f0.pdf b/Working_Examples/3432/CH7/EX7.34/Ex7_34_f0.pdf
new file mode 100755
index 0000000..d7b791b
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/Ex7_34_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.34/Ex7_34_f4.pdf b/Working_Examples/3432/CH7/EX7.34/Ex7_34_f4.pdf
new file mode 100755
index 0000000..c76fc78
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/Ex7_34_f4.pdf
diff --git a/Working_Examples/3432/CH7/EX7.34/Ex7_34_model.xcos b/Working_Examples/3432/CH7/EX7.34/Ex7_34_model.xcos
new file mode 100755
index 0000000..0f9e52f
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/Ex7_34_model.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="5.0" title="Ex7_34_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20160406 2040--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="1"/><data column="0" line="1" value="s+s^2"/></ScilabString><ScilabDouble as="realParameters" height="9" width="1"><data column="0" line="0" realPart="0.0"/><data column="0" line="1" realPart="-0.0"/><data column="0" line="2" realPart="1.0"/><data column="0" line="3" realPart="-1.0"/><data column="0" line="4" realPart="0.0"/><data column="0" line="5" 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+\ No newline at end of file
diff --git a/Working_Examples/3432/CH7/EX7.35/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.35/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.35/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.35/Ex7_35.sce b/Working_Examples/3432/CH7/EX7.35/Ex7_35.sce
new file mode 100755
index 0000000..8bf6544
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.35/Ex7_35.sce
@@ -0,0 +1,82 @@
+//Example 7.35
+// Integral Control of a Motor Speed System
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+//Transfer function model 
+num=1;
+s=poly(0,'s');
+den=(s+3);
+G=syslin('c',num/den);
+sys=tf2ss(G)
+
+// State space representation of augmented system
+F=[0 1; 0 -3];
+G=[0 1]'
+H=[1 0];
+J=0;
+
+//Desired poles for augmented system
+Pc=[-5 -5]
+
+// State feedback gain is
+K=ppol(F,G,Pc)
+disp(K,'K=')
+
+//Estimator
+Pe=[-10]
+L=ppol(sys.A',sys.C',Pe)
+disp(L','L=')
+
+//------------------------------------------------------------------
+//(c) Compare step reference and disturbance response.
+//step reference response switch r=1 and w=0;
+r=1;w=0;
+importXcosDiagram(".\Ex7_35_model.xcos")
+ //The diagram data structure
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure(0)
+plot(yt.time,yt.values)
+xlabel('time');
+ylabel('y');
+
+figure(1)
+plot(ut.time,ut.values)
+xlabel('time');
+ylabel('y');
+//------------------------------------------------------------------
+// Step disturbance response switch r=0 and w=1;
+w=1;r=0;
+importXcosDiagram(".\Ex7_35_model.xcos")
+ //The diagram data structure
+xcos_simulate(scs_m,4);
+scs_m.props.context
+
+scf(0)
+plot(yt.time,yt.values,'r--')
+xlabel('time');
+ylabel('y');
+title("step Response",'fontsize',3)
+exec .\fig_settings.sci; // custom script for setting figure properties
+legend("y1","y2")
+xset('font size',3);
+xstring(0.9,0.9,"$y_1$");
+xstring(0.25,0.12,"$y_2$");
+
+
+scf(1)
+plot(ut.time,ut.values,'r--')
+xlabel('time');
+ylabel('y');
+title("Control efforts",'fontsize',3)
+exec .\fig_settings.sci; // custom script for setting figure properties
+legend("u1","u2")
+xset('font size',3);
+xstring(0.25,2.5,"$u_1$");
+xstring(1,-1,"$u_2$");
+//------------------------------------------------------------------
+
diff --git a/Working_Examples/3432/CH7/EX7.35/Ex7_35_f0.pdf b/Working_Examples/3432/CH7/EX7.35/Ex7_35_f0.pdf
new file mode 100755
index 0000000..5bdf202
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.35/Ex7_35_f0.pdf
diff --git a/Working_Examples/3432/CH7/EX7.35/Ex7_35_f1.pdf b/Working_Examples/3432/CH7/EX7.35/Ex7_35_f1.pdf
new file mode 100755
index 0000000..ef112fd
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.35/Ex7_35_f1.pdf
diff --git a/Working_Examples/3432/CH7/EX7.35/Ex7_35_model.xcos b/Working_Examples/3432/CH7/EX7.35/Ex7_35_model.xcos
new file mode 100755
index 0000000..aec407c
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.35/Ex7_35_model.xcos
@@ -0,0 +1 @@
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diff --git a/Working_Examples/3432/CH7/EX7.7/Ex7_7.sce b/Working_Examples/3432/CH7/EX7.7/Ex7_7.sce
new file mode 100755
index 0000000..71aeae4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.7/Ex7_7.sce
@@ -0,0 +1,29 @@
+//Example 7.7
+//Analog computer Implementation.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model of the given system
+F=[-6 -11 -6; 1 0 0; 0 1 0];
+G=[6; 0; 0];
+H=[0 0 1];
+J=0;
+sys_ss=syslin('c',F,G,H,J)
+disp(sys_ss)
+//------------------------------------------------------------------
+//Transfer function form
+[d,Ns,Ds]=ss2tf(sys_ss)
+Ns=clean(Ns);
+G=syslin('c',Ns/Ds);
+disp(G)
+//------------------------------------------------------------------
+// convert numerator - denominator to pole - zero form
+//gain (K) pole (P) and zeros (Z) of the system
+temp=polfact(Ns);
+Z=roots(Ns); //locations of zeros
+P=roots(Ds); //locations of poles
+K=temp(1); //first entry is always gain
+disp( K,"Gain", P, "Poles",Z,"Zeros",)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.8/Ex7_8.sce b/Working_Examples/3432/CH7/EX7.8/Ex7_8.sce
new file mode 100755
index 0000000..32d3835
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.8/Ex7_8.sce
@@ -0,0 +1,21 @@
+//Example 7.8
+//Time scaling an oscillator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space model of an oscillator
+wn=15000 // rad/sec
+F=[0 1;wn^2 0];
+G=[0;10^6];
+disp(G,"G",F,"F","Given system");
+
+//------------------------------------------------------------------
+// State space model of the time-scaled system for 
+// a millisecond scale w0=1e3;
+w0=1e3; //rad/sec
+F1=F/w0;
+G1=G/w0;
+disp(G1,"G1",F1,"F1","Time scaled system in mm");
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.9/Ex7_9.sce b/Working_Examples/3432/CH7/EX7.9/Ex7_9.sce
new file mode 100755
index 0000000..28a0488
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.9/Ex7_9.sce
@@ -0,0 +1,40 @@
+//Example 7.9
+//State Equations in Modal Canonical Form.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+g1=1/s^2;
+g2=-1/(s^2+2*s+4);
+Gs=g1+g2;
+//------------------------------------------------------------------
+// State space representation in modal canonical form
+sys1=tf2ss(g1);
+sys2=tf2ss(g2);
+[F1,G1,T1]=canon(sys1.A, sys1.B)
+H1=sys1.C*T1;
+
+[F2,G2,T2]=canon(sys2.A, sys2.B)
+H2=sys2.C*T2;
+
+F=[F1 zeros(2,2);zeros(2,2) F2];
+G=[G1;G2];
+H=[H1,H2];
+J=0;
+disp(J,"J",H,"H",G,"G",F,"F","System in modal canonical form")
+//------------------------------------------------------------------
+ //As Y=G*U;  consatnts k1 and k2  are taken out from G1 and G2 will be 
+ //multiplied to H1 and H2 
+
+// So alternately, it can be reprsented as
+k1=-1;k2=-2;
+F=[F1 zeros(2,2);zeros(2,2) F2];
+G=[G1/k1;G2/k2];
+H=[H1*k1,H2*k2];
+J=0;
+disp(J,"J",H,"H",G,"G",F,"F","System in modal canonical form")
+//------------------------------------------------------------------
+
author	Siddharth Agarwal	2019-09-03 18:27:40 +0530
committer	Siddharth Agarwal	2019-09-03 18:27:40 +0530
commit	8ac15bc5efafa2afc053c293152605b0e6ae60ff (patch)
tree	e1bc17aae137922b1ee990f17aae4a6cb15b7d87 /Working_Examples/3432/CH7
parent	52a477ec613900885e29c4a0b02806a415b4f83a (diff)
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