Xcos examples from textbooks and for blocksHEADmaster

13 files changed, 501 insertions, 0 deletions

diff --git a/Working_Examples/3885/CH6/EX6.1/Ex6_1.sci b/Working_Examples/3885/CH6/EX6.1/Ex6_1.sci
new file mode 100755
index 0000000..a11b658
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.1/Ex6_1.sci
@@ -0,0 +1,47 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.1

+

+clc;

+clear; 

+s=poly(0,'s')

+//calculation of gain K

+//for ramp input ess(steady state error ) is0.2

+ess=0.2

+kv=1/ess

+// open loop transfer function G(s)=K/s*(1+2*s)

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

+disp('the value of K is 5;')

+h=syslin('c',5/(s*(1+2*s)))

+bode(h)

+show_margins(h)

+xtitle("uncompensated system")

+//from the plot the phase margin of uncompensated system is 18

+//but the system requires phase margin of 40 so lag compensation required

+pm=45//choose PM of compensated system is 45 degree

+phigcn=45-180// phase of G(s) at new gain cross over frequency

+wgcn=0.5//the frequency corrosponding to  phase of -135 is 0.5 rad/sec

+agcn=20//db magnitude at wgcn

+//20log betaa=20

+betaa=10^(agcn/20)

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

+zc=wgcn/10//zero of lag compensator

+t=10/wgcn 

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

+pc=1/(betaa*t)

+disp(pc,'pole of lag compensator is')

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

+hc=syslin('c', (10*(1+20*s))/(1+200*s))

+disp(hc,'the transfer function of lag compensator 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()

+bode(hcmp)

+show_margins(hcmp) 

+xtitle("compensated system")

+

+

diff --git a/Working_Examples/3885/CH6/EX6.11/Ex6_11.sci b/Working_Examples/3885/CH6/EX6.11/Ex6_11.sci
new file mode 100755
index 0000000..2d6ae51
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.11/Ex6_11.sci
@@ -0,0 +1,26 @@
+//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')

diff --git a/Working_Examples/3885/CH6/EX6.12/Ex6_12.sci b/Working_Examples/3885/CH6/EX6.12/Ex6_12.sci
new file mode 100755
index 0000000..b76533c
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.12/Ex6_12.sci
@@ -0,0 +1,26 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.12

+

+clc;

+clear; 

+s=poly(0,'s')

+//given tranfer function g(s)=100/(s+1)*(s+2)*(s+5)

+h=syslin('c',100/(s+1)*(s+2)*(s+5))

+pm=60//given phase margin

+w=0.5//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=8.63

+phi=-46//in degrees

+theta=pm-134//desired pm -pm of uncompensated system

+ki=(-w)*sind(theta)/A1//integral constant

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

+disp(ki,kp,'the values of integral constant and proportional constant are')

+//transfer function of PI controller is (kp+ki/s)

+hc=syslin('c', 0.056*(1+0.57*s)/s)

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

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

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

diff --git a/Working_Examples/3885/CH6/EX6.13/Ex6_13.sci b/Working_Examples/3885/CH6/EX6.13/Ex6_13.sci
new file mode 100755
index 0000000..71b989e
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.13/Ex6_13.sci
@@ -0,0 +1,31 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.13

+

+clc;

+clear; 

+s=poly(0,'s')

+//given tranfer function g(s)=100/(s+1)*(s+2)*(s+10)

+h=syslin('c',100/(s+1)*(s+2)*(s+10))

+pm=45//given phase margin

+w=4//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=0.5

+phi=-161//in degrees

+theta=pm-19//desired pm -pm of uncompensated system

+ess=0.1//steady state error for ramp  input

+kv=1/ess//velocity errpr constant 

+//the transfer function of PID controller is Gc(s)=kp+kd*s+ki/s

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

+ki=2//integeral constant

+disp(ki,'the value of integral constant')

+kd=((sind(theta)/(w*A1))+(ki/w^2))//derivative constant

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

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

+hc=syslin('c',0.344*(s^2+5.23*s+5.81)/s)

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

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

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

diff --git a/Working_Examples/3885/CH6/EX6.14/Ex6_14.sci b/Working_Examples/3885/CH6/EX6.14/Ex6_14.sci
new file mode 100755
index 0000000..e1257ac
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.14/Ex6_14.sci
@@ -0,0 +1,34 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.14

+

+clc;

+clear; 

+s=poly(0,'s')

+//dominent pole sd=-zeta*w=%i*w*sqrt(1-zeta^2)

+zeta=0.8//damping ratio

+w=2//natural frequency of osciilation in rad/sec

+sd=(-zeta*w)+((%i*w)*sqrt(1-zeta^2))

+disp(sd,'the dominennt pole is')

+d=abs(sd)

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

+betaa=phasemag(sd)

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

+h=syslin('c',20/s*(s+2)*(s+4))//given tranfer function G(s)

+//find magnitude and phase of G(s) at s=sd

+a=20/(sd*(2+sd)*(4+sd))

+ad=abs(a)

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

+phid=phasemag(a)

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

+kd=sind(phid)/(d*ad*sind(betaa))//derivative constant

+disp(kd,'the derivative  constant is')

+kp=(-sind(betaa+phid))/(ad*sind(betaa))//proportional constant

+disp(kp,'the integral  constant is')

+hc=syslin('c', s*((0.243/s)+0.557))//transfer function of PD controller is kpof +kd*s

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

+hcmp=syslin('c',h*hc)//transfer function   compensated system 

+disp(hcmp,'transfer function   compensated system ')

diff --git a/Working_Examples/3885/CH6/EX6.15/Ex6_15.sci b/Working_Examples/3885/CH6/EX6.15/Ex6_15.sci
new file mode 100755
index 0000000..1f10885
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.15/Ex6_15.sci
@@ -0,0 +1,34 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.15

+

+clc;

+clear; 

+s=poly(0,'s')

+//dominent pole sd=-zeta*w=%i*w*sqrt(1-zeta^2)

+zeta=0.9//damping ratio

+w=2.5//natural frequency of osciilation in rad/sec

+sd=(-zeta*w)+((%i*w)*sqrt(1-zeta^2))

+disp(sd,'the dominennt pole is')

+d=abs(sd)

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

+betaa=phasemag(sd)

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

+h=syslin('c',4/(s+1)*(s+5))//given tranfer function G(s)

+//find magnitude and phase of G(s) at s=sd

+a=4/((1+sd)*(5+sd))

+ad=abs(a)

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

+phid=phasemag(a)

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

+ki=-(d*sind(phid))/(ad*sind(betaa))//integral  constant

+disp(ki,'the integral   constant is')

+kp=(-sind(betaa+phid))/(ad*sind(betaa))-(2*ki*cosd(betaa))/d //proportional constant

+disp(kp,'the proportional  constant is')

+hc=syslin('c', 2.02*(s+1.19)/s)//transfer function of PD controller is kpof +kd*s

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

+hcmp=syslin('c',h*hc)//transfer function   compensated system 

+disp(hcmp,'transfer function   compensated system ')

diff --git a/Working_Examples/3885/CH6/EX6.16/Ex6_16.sci b/Working_Examples/3885/CH6/EX6.16/Ex6_16.sci
new file mode 100755
index 0000000..1b0933b
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.16/Ex6_16.sci
@@ -0,0 +1,39 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.15

+

+clc;

+clear; 

+s=poly(0,'s')

+//dominent pole sd=-zeta*w=%i*w*sqrt(1-zeta^2)

+zeta=0.8//damping ratio

+w=2.5//natural frequency of osciilation in rad/sec

+sd=(-zeta*w)+((%i*w)*sqrt(1-zeta^2))

+disp(sd,'the dominennt pole is')

+d=abs(sd)

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

+betaa=phasemag(sd)

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

+h=syslin('c',75/(s+1)*(s+3)*(s+8))//given tranfer function G(s)

+//find magnitude and phase of G(s) at s=sd

+a=75/((1+sd)*(3+sd)*(8+sd))

+ad=abs(a)

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

+phid=phasemag(a)

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

+ess=0.08//steady state error

+kv=1/ess//velocity error constant

+//the transfer function of PID controller is Gc(s)=kp+kd*s+ki/s

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

+ki=12.5/3.125//integeral constant

+kd=sind(phid)/(d*ad*sind(betaa))+(ki/(d^2)) //derivative constant

+disp(kd,'the derivative  constant is')

+kp=(-sind(betaa+phid))/(ad*sind(betaa))-(2*ki*cosd(betaa))/d //proportional constant

+disp(kp,'the proportional  constant is')

+hc=syslin('c', 0.68*(s^2+4.26*s+5.88)/s)//transfer function of PID controller is kpof +kd*s

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

+hcmp=syslin('c',h*hc)//transfer function   compensated system 

+disp(hcmp,'transfer function   compensated system ')

diff --git a/Working_Examples/3885/CH6/EX6.2/Ex6_2.sce b/Working_Examples/3885/CH6/EX6.2/Ex6_2.sce
new file mode 100755
index 0000000..a413259
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.2/Ex6_2.sce
@@ -0,0 +1,45 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.2

+

+clc;

+clear; 

+s=poly(0,'s')

+//calculation of gain K

+kv=30//velocity error constant is 30sec^-1

+// open loop transfer function G(s)=K/s*(s+4)*(s+80)

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

+disp('the value of K is 9600;')

+h=syslin('c',9600/(s*(s+4)*(s+80)))

+bode(h)

+show_margins(h) 

+xtitle("uncompensated system")

+//from the plot the phase margin of uncompensated system is 12

+//but the system requires phase margin of 33 so lag compensation required

+pm=38//choose PM of compensated system is 38 degree

+phigcn=38-180// phase of G(s) at new gain cross over frequency

+wgcn=4.7//the frequency corrosponding to  phase of -142 is 4.7 rad/sec

+agcn=16//db magnitude at wgcn

+//20log betaa=16

+betaa=10^(agcn/20)

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

+zc=wgcn/10//zero of lag compensator

+t=10/wgcn 

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

+pc=1/(betaa*t)

+disp(pc,'pole of lag compensator is')

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

+hc=syslin('c', (6.3*(1+2.13*s))/(1+13.419*s))

+disp(hc,'the transfer function of lag compensator 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()

+bode(hcmp)

+show_margins(hcmp)

+xtitle("compensated system")

+

+

diff --git a/Working_Examples/3885/CH6/EX6.3/Ex6_3.sci b/Working_Examples/3885/CH6/EX6.3/Ex6_3.sci
new file mode 100755
index 0000000..331501d
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.3/Ex6_3.sci
@@ -0,0 +1,45 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.3

+

+clc;

+clear; 

+s=poly(0,'s')

+K=20//the value of K 

+h=syslin('c',20/(s*(s+2)*(s+8)))

+evans(h)

+xtitle("uncompensated system")

+//given  ramp input ess(steady state error ) is0.125

+ess=0.125

+kvd=1/ess//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=1.25 

+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*(-2)//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+0.2*s)/(s+0.026*s))

+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=9.165//velocity error constant of compensated system

+essc=1/kvc//steady state error for compensated system

+disp(essc,'steady state error for compensated system')

+disp('since the steady state error of compensated system is less than 0.125 the design is acceptable')

+

+

diff --git a/Working_Examples/3885/CH6/EX6.4/Ex6_4.sci b/Working_Examples/3885/CH6/EX6.4/Ex6_4.sci
new file mode 100755
index 0000000..c67536b
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.4/Ex6_4.sci
@@ -0,0 +1,39 @@
+//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')

diff --git a/Working_Examples/3885/CH6/EX6.5/Ex6_5.sci b/Working_Examples/3885/CH6/EX6.5/Ex6_5.sci
new file mode 100755
index 0000000..caff6d6
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.5/Ex6_5.sci
@@ -0,0 +1,41 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.5

+

+clc;

+clear; 

+s=poly(0,'s')

+//calculation of gain K

+//given for ramp input ess(steady state error ) is 1/15

+ess=1/15

+kv=1/ess

+// open loop transfer function G(s)=K/s*(s+1)

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

+disp('the value of K is 15;')

+h=syslin('c',15/(s*(s+1)))

+bode(h)

+show_margins(h)

+xtitle("uncompensated system")

+//from the plot the phase margin of uncompensated system is 13

+//but the system requires phase margin of 45 so lead compensation required

+pm=45//choose PM of compensated system is 45 degree

+phim=37//maximum lead angle

+alpha=(1-(sind(phim)))/(1+(sind(phim)))

+disp(alpha,'the vale of alpha is')

+wmdb=-20*log(1/sqrt(alpha))////db magnitude

+wm=5.6//from the bode plot of uncompensated system the frequency wm corrosponding to db gain of -6db is 5.6rad/sec

+t=1/(wm*sqrt(alpha))

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

+//transfer function of lead compensator is (s+1/t)/(s+1/alpha*t)

+hc=syslin('c',(0.25*(1+0.36*s))/(1+0.09*s))

+disp(hc,' transfer function of lead compensator 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()

+bode(hcmp)

+show_margins(hcmp)

+xtitle("compensated system")

diff --git a/Working_Examples/3885/CH6/EX6.6/Ex6_6.sci b/Working_Examples/3885/CH6/EX6.6/Ex6_6.sci
new file mode 100755
index 0000000..40a0f47
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.6/Ex6_6.sci
@@ -0,0 +1,40 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.6

+

+clc;

+clear; 

+s=poly(0,'s')

+//calculation of gain K

+kv=50//given velocity error constant

+// open loop transfer function G(s)=K/s*(s+1)(s+5)

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

+disp('the value of K is 250;')

+h=syslin('c',250/(s*(s+1)*(s+5)))

+bode(h)

+show_margins(h)

+xtitle("uncompensated system")

+//from the plot the phase margin of uncompensated system is -44

+//but the system requires phase margin of 20 so lead compensation required

+pm=20//choose PM of compensated system is 20 degree

+//since the lead angle required is greater than 60 we have to realise lead compensator as cascade of two compensators with each compensator providing half of required phase

+phim=69/2//maximum lead angle

+alpha=(1-sind(phim))/(1+sind(phim))

+disp(alpha,'the vale of alpha is')

+wmdb=-20*log(1/sqrt(alpha))////db magnitude

+wm=7.8//from the bode plot of uncompensated system the frequency wm corrosponding to db gain of -6db is 5.6rad/sec

+t=1/(wm*sqrt(alpha))

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

+//transfer function of lead compensator is (s+1/t)/(s+1/alpha*t)

+hc=syslin('c',(0.0784*(1+0.024*s)^2)/(1+0.067*s)^2)

+disp(hc,' transfer function of lead compensator 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()

+bode(hcmp)

+show_margins(hcmp)

+xtitle("compensated system")

diff --git a/Working_Examples/3885/CH6/EX6.9/Ex6_9.sci b/Working_Examples/3885/CH6/EX6.9/Ex6_9.sci
new file mode 100755
index 0000000..b4e38f2
--- /dev/null
+++ b/Working_Examples/3885/CH6/EX6.9/Ex6_9.sci
@@ -0,0 +1,54 @@
+//control systems by Nagoor Kani A

+//Edition 3

+//Year of publication 2015

+//Scilab version 6.0.0

+//operating systems windows 10

+// Example 6.9

+

+clc;

+clear; 

+s=poly(0,'s')

+//calculation of gain K

+kv=80//given velocity error constant

+// open loop transfer function G(s)=K/s*(s+3)(s+6)

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

+disp('the value of K is 1440;')

+h=syslin('c',1440/(s*(s+3)*(s+6)))

+bode(h)

+show_margins(h)

+xtitle("uncompensated system")

+//from the plot the phase margin of uncompensated system is -46

+pm=40//choose PM of compensated system is 40 degree

+phigcn=40-180// phase of G(s) at new gain cross over frequency

+wgcn=1.8//the frequency corrosponding to  phase of -140 is 1.8 rad/sec

+wgcl=4//choose gain cross over frequency of lag compensator as 4rad/sec

+agcl=23//db magnitude at egcl is 23db

+//agcl=20log*betaa

+betaa=10^(agcl/20)

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

+zc1=wgcl/10//zero of lag compensator

+t1=10/wgcl 

+disp(t1,'the value of t1 is ')

+pc1=1/(betaa*t1)

+disp(pc1,'pole of lag compensator is')

+//transfer function of lag section is (betaa*1+st1)/(1+s*betaa*t1)

+hc1=syslin('c',(14*(1+2.5*s))/(1+35*s))

+disp(hc1,'transfer function of lag section')

+alpha=1/betaa

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

+wmdb=-20*log(1/sqrt(alpha))////db magnitude

+wm=17//from the bode plot of uncompensated system the frequency wm corrosponding to db gain of -12db is 17rad/sec

+t2=1/(wm*sqrt(alpha))

+//transfer function of lead section is (alpha*1+st2)/(1+s*alpha*t2)

+hc2=syslin('c',(0.07*(1+0.22*s))/(1+0.0154*s))

+disp(hc2,'transfer function of lead section')

+hc3=syslin('c',hc1*hc2)

+disp(hc3,'the tansfer function of lag lead compensation system is')

+//open loop transfer function of compensated system is h*hc3

+hcmp=syslin('c',h*hc3)

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

+figure()

+bode(hcmp)

+show_margins(hcmp)

+xtitle("compensated system")

+