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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 6.4

+

+clc;

+clear; 

+s=poly(0,'s')

+K=240//the value of K 

+h=syslin('c',240/(s*(s+10)^2))

+evans(h)

+xtitle("uncompensated system")

+kvd=20//given desired velocity error constant

+// transfer function of un compessated system G(s)=20/s*(s+2)*(s+8)

+//by definition of velocity error constant applying limit s=0 in G(s)

+kvu=2.4

+disp(kvu,'The velocity error constant of un compensated system is')

+disp(kvd,'desired velocity error constant')

+A=kvd/kvu//A is the factor by which velocity error constant increases

+betaa=A*1.2

+disp(betaa,'the value of betaa is')

+zc=0.1*(-10)//zero of lag compensator=0.1* second pole

+t=(-1/zc)

+disp(t,'the value for t is')

+pc=(-1)/(betaa*t)//pole of lag compensator

+//transfer function of lag compensation is (s+1/t)/(s+1/betaa*t))

+hc=syslin('c',(s+1)/(s+0.1))

+disp(hc,'transfer function of lag compensation is')

+//open loop transfer function of compensated system is h*hc

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

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

+figure()

+evans(hcmp)

+xtitle("compensated system")

+//by definition of velocity error constant applying limit s=0 in hcmp

+kvc=24//velocity error constant of compensated system

+disp('since the velocity error constant  of compensated system is greater than specified value  the design is acceptable')