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+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.11

+

+clc;

+clear; 

+s=poly(0,'s')

+//given tranfer function g(s)=10/(s*(1+2*s)*(1+s))

+h=syslin('c',10/(s*(1+2*s)*(1+s)))

+pm=30//given phase margin

+w=6.2//given gain cross over frequency in rad/sec

+//put s=jw in G(s) magnitude of G(jw) gives A1 and angle of G(jw) gives phi1 at w

+A1=2.052

+phi=-207.5//in degrees

+theta=30-(-27.5)//desired pm -pm of uncompensated system

+kd=sind(theta)/w*A1//derivative constant

+kp=cosd(theta)/A1//proportional constant

+disp(kd,kp,'the values of derivative constant and proportional constant are')

+//transfer function of PD controller is (kp+kd*s)

+hc=syslin('c', s*((0.343/s)+0.262))

+disp(hc,'the transfer function of PD controller is')

+hcmp=syslin('c', h*hc)

+disp(hcmp,'the transfer function of compensated system is')