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/3885
parent: 52a477ec613900885e29c4a0b02806a415b4f83a (diff)
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diff --git a/Working_Examples/3885/CH2/EX2.1/Ex2_1.sci b/Working_Examples/3885/CH2/EX2.1/Ex2_1.sci
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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 2.1
+clc;
+clear;
+n=300;// number of turns
+li=0.01//linearity =1%
+v=30//voltage=30V
+kp=v/n
+disp(kp,'Potentiometer constant in (volts/turn)')
+nmid=n/2
+vmid=kp*nmid
+disp(vmid,'Voltage at mid point is;')
+disp('Range of voltage at mid point with 1% linearity is 14.7volts to 15.3 volts')//vmid(+-)0.3
+//assuming potentiometer is perfectly linear so the resistance at midpoint setting from reference is 50kiloohm
+//load resistance of 500Kiloohm  is connected in parallel with potentiometer
+req=(500*50)/(500+50)
+v0=(v*req)/(50+req)//using voltage divison rule
+disp(v0,'Voltage at midpoint with load resistance 500Kiloohm (in volts)')
+
diff --git a/Working_Examples/3885/CH2/EX2.2/Ex2_2.sci b/Working_Examples/3885/CH2/EX2.2/Ex2_2.sci
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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 2.2
+clc;
+clear;
+n1=20//no of teeth in first gear
+n2=10//no of teeth in second gear
+diratio=n1/n2
+disp(diratio,'the ratio of diameters is')
+theta1=40//gear1 is rotated by an angle of 40 degree
+theta2=(n1/n2)*theta1
+disp(theta2,'displace ment of gear2 in (degrees)')
+as1=30//angular speed of gear1 is 30 rad/sec
+as2=(n1/n2)*as1
+disp(as2,' angular speed of gear2 in(rad/sec)')
+aa2=4//angular accleration of gear 2 is 4 rad/sec^2
+aa1=(n2/n1)*aa2
+disp(aa1,'angular accleration of gear 1 in (rad/sec^2)')
+t1=5//torque on gear1 5N-m
+t2=(n2/n1)*t1
+disp(t2,'torque on gear2 in (N-m)')
diff --git a/Working_Examples/3885/CH2/EX2.3/Ex2_3.sci b/Working_Examples/3885/CH2/EX2.3/Ex2_3.sci
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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 2.3
+clc;
+clear;
+n1=200//no of teeth in  gear1
+n2=50//no of teeth in  gear2
+n3=100//no of teeth in  gear3
+n4=50//no of teeth in  gear4
+n5=40//no of teeth in  gear5
+n6=20//no of teeth in  gear6
+n7=150//no of teeth in  gear7
+//if gear 1 rotates in clockwise then all odd no gears rotate in clockwisw and even no gear rotate in anticlockwise
+ad1=2//angular displacement in gear 1 is 2rad
+ad4=(n1/n4)*ad1
+disp(ad4,'angular displacement in gear 4 in rad (anticlockwise)')
+ad7=(n1/n7)*ad1
+disp(ad7,'angular displacement in gear 7 in rad  (clockwise)')
+av6=20//angular velocity  of gear 6 is 20 rad/sec
+av1=(n6/n1)*av6
+disp(av1,'angular velocity of gear 1 in rad/sec; (clockwise)')
+av3=(n6/n3)*av6
+disp(av3,'angular velocity of gear 3 in rad/sec; (clockwise)')
+t1=10//torque on gear 1 is 10 N-m
+t3=(n3/n1)*t1
+disp(t3,'torque in gear 3 in N-m')
+t7=(n7/n1)*t1
+disp(t7,'torque in gear 7 in N-m')
diff --git a/Working_Examples/3885/CH3/EX3.1/Ex3_1.sci b/Working_Examples/3885/CH3/EX3.1/Ex3_1.sci
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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 3.1
+
+clc;
+clear; 
+s=%s
+p=poly([4],'s','coeff')
+q=poly([0 5 1],'s','coeff')
+g=p./q
+disp(g,'The given transfer function is')
+c=g/(1+g)
+disp(c,'The closed loop transfer function is')
+u=c/s
+disp(u,'The input is unit step signal')
diff --git a/Working_Examples/3885/CH3/EX3.1/Ex3_1.xcos b/Working_Examples/3885/CH3/EX3.1/Ex3_1.xcos
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+++ b/Working_Examples/3885/CH3/EX3.1/Ex3_1.xcos
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diff --git a/Working_Examples/3885/CH3/EX3.2/Ex3_2.sci b/Working_Examples/3885/CH3/EX3.2/Ex3_2.sci
new file mode 100755
index 0000000..0af5261
--- /dev/null
+++ b/Working_Examples/3885/CH3/EX3.2/Ex3_2.sci
@@ -0,0 +1,19 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.2
+
+clc;
+clear; 
+s=%s
+p=poly([100],'s','coeff')
+q=poly([0 2 1],'s','coeff')
+h=poly([1 0.1 0 ],'s','coeff')
+g=p./q
+disp(g,'the given transfer function is')
+c=g/(1+(g*h))
+disp(c,'the closed loop transfer function is')
+u=c/s
+disp(u,'the in put is unit step signal')
diff --git a/Working_Examples/3885/CH3/EX3.2/Ex3_2.xcos b/Working_Examples/3885/CH3/EX3.2/Ex3_2.xcos
new file mode 100755
index 0000000..03761df
--- /dev/null
+++ b/Working_Examples/3885/CH3/EX3.2/Ex3_2.xcos
@@ -0,0 +1 @@
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+\ No newline at end of file
diff --git a/Working_Examples/3885/CH3/EX3.3/Ex3_3.sci b/Working_Examples/3885/CH3/EX3.3/Ex3_3.sci
new file mode 100755
index 0000000..8570f5e
--- /dev/null
+++ b/Working_Examples/3885/CH3/EX3.3/Ex3_3.sci
@@ -0,0 +1,19 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.3
+
+clc;
+clear; 
+s=poly(0,'s')
+// the input is unit step signal
+h=syslin('c', 600/(s^2+70*s+600))//the closed loop transfer function
+disp(h,'the closed loop transfer function')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=sqrt(600)//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+zeta=70/(2*w)//damping ratio
+disp(zeta,'damping ratio')
diff --git a/Working_Examples/3885/CH3/EX3.4/Ex3_4.sci b/Working_Examples/3885/CH3/EX3.4/Ex3_4.sci
new file mode 100755
index 0000000..c973cba
--- /dev/null
+++ b/Working_Examples/3885/CH3/EX3.4/Ex3_4.sci
@@ -0,0 +1,24 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.4
+
+clc;
+clear; 
+s=poly(0,'s')
+// the input is unit step signal
+h=syslin('c',100/(s^2+10*s+100))//the value of k is 100
+k=100
+zeta=0.5//given damping ratio
+disp(k,'the value of k is')
+disp(h,'the closed loop transfer function')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=sqrt(k)//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+mp=exp((-zeta*%pi)/sqrt(1-(zeta)^2))*100//percentage peak overshoot 
+disp(mp,'percentage peak overshoot in percentage')
+tp=%pi/(w*sqrt(1-(zeta)^2))
+disp(tp,'peak time in seconds')
diff --git a/Working_Examples/3885/CH3/EX3.6/Ex3_6.sci b/Working_Examples/3885/CH3/EX3.6/Ex3_6.sci
new file mode 100755
index 0000000..0843446
--- /dev/null
+++ b/Working_Examples/3885/CH3/EX3.6/Ex3_6.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 3.6
+
+clc;
+clear; 
+s=poly(0,'s')
+// the input is unit step signal
+h=syslin('c',16/(s^2+4*s+16))//the value of k is 0.2
+zeta=0.5//given damping ratio
+disp(h,'the closed loop transfer function')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=4//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+k=(2*zeta*w-(0.8))/16
+disp(k,'the value of k is')
+mp=exp((-zeta*%pi)/sqrt(1-(zeta)^2))*100//percentage peak overshoot 
+disp(mp,'percentage peak overshoot in percentage')
+tp=%pi/(w*sqrt(1-(zeta)^2))
+disp(tp,'peak time in seconds')
+//constructing a right angle triangle with zeta and sqrt(1-zeta^2)
+theta=atan(0.866/0.5)//(1-zeta^2)/zeta
+disp(theta,'the value of theta is')
+tr=(%pi- theta)/(w*sqrt(1-(zeta)^2))
+disp(tr,'the rise time in seconds')
+t=1/(zeta*w)//time constant
+ts1=3*t//settling time for 5% error
+disp(ts1,'settling time for 5% error in seconds')
+ts2=4*t//settling time for 2% error
+disp(ts2,'settling time for 2% error in seconds')
diff --git a/Working_Examples/3885/CH3/EX3.6/Ex3_6.xcos b/Working_Examples/3885/CH3/EX3.6/Ex3_6.xcos
new file mode 100755
index 0000000..9a7560c
--- /dev/null
+++ b/Working_Examples/3885/CH3/EX3.6/Ex3_6.xcos
@@ -0,0 +1 @@
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diff --git a/Working_Examples/3885/CH3/EX3.7/Ex3_7.sci b/Working_Examples/3885/CH3/EX3.7/Ex3_7.sci
new file mode 100755
index 0000000..7eb252a
--- /dev/null
+++ b/Working_Examples/3885/CH3/EX3.7/Ex3_7.sci
@@ -0,0 +1,28 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.7
+
+clc;
+clear; 
+s=%s
+p=poly([1 0.4 0 ],'s','coeff')
+q=poly([0 0.6 1],'s','coeff')
+g=p./q
+disp(g,'the given transfer function is')
+c=g/(1+g)
+disp(c,'the closed loop transfer function is')
+u=c/s
+disp(u,'the in put is unit step signal')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=1//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+zeta=1/(2*w)
+disp(zeta,'the damping ratio is')
+mp=exp((-zeta*%pi)/sqrt(1-(zeta)^2))*100//percentage peak overshoot 
+disp(mp,'percentage peak overshoot in percentage')
+tp=%pi/(w*sqrt(1-(zeta)^2))
+disp(tp,'peak time in seconds')
diff --git a/Working_Examples/3885/CH3/EX3.7/Ex3_7.xcos b/Working_Examples/3885/CH3/EX3.7/Ex3_7.xcos
new file mode 100755
index 0000000..6c8ba4d
--- /dev/null
+++ b/Working_Examples/3885/CH3/EX3.7/Ex3_7.xcos
@@ -0,0 +1 @@
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diff --git a/Working_Examples/3885/CH3/EX3.9/Ex3_9.sci b/Working_Examples/3885/CH3/EX3.9/Ex3_9.sci
new file mode 100755
index 0000000..6b421b1
--- /dev/null
+++ b/Working_Examples/3885/CH3/EX3.9/Ex3_9.sci
@@ -0,0 +1,35 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.9
+
+clc;
+clear; 
+s=poly(0,'s')
+// the input is 12 unit step signal
+h=syslin('c',10/(s^2+2*s+10))
+disp(h,'the closed loop transfer function')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=3.162//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+zeta=2/(2*w)
+disp(zeta,' damping ratio is')
+mp=exp((-zeta*%pi)/sqrt(1-(zeta)^2))*100//percentage peak overshoot 
+disp(mp,'percentage peak overshoot in percentage') 
+po=(mp/100)*12//peak over shoot for 12 units
+disp(po,'peak over shoot for 12 units')
+tp=%pi/(w*sqrt(1-(zeta)^2))
+disp(tp,'peak time in seconds')
+//constructing a right angle triangle with zeta and sqrt(1-zeta^2)
+theta=atan(0.866/0.5)//(1-zeta^2)/zeta
+disp(theta,'the value of theta is')
+tr=(%pi- theta)/(w*sqrt(1-(zeta)^2))
+disp(tr,'the rise time in seconds')
+t=1/(zeta*w)//time constant
+ts1=3*t//settling time for 5% error
+disp(ts1,'settling time for 5% error in seconds')
+ts2=4*t//settling time for 2% error
+disp(ts2,'settling time for 2% error in seconds')
diff --git a/Working_Examples/3885/CH4/EX4.1/Ex4_1.sce b/Working_Examples/3885/CH4/EX4.1/Ex4_1.sce
new file mode 100755
index 0000000..391fddc
--- /dev/null
+++ b/Working_Examples/3885/CH4/EX4.1/Ex4_1.sce
@@ -0,0 +1,16 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 4.1
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(s^2)/((1+0.2*s)*(1+0.02*s)))//the given transfer function assigned to variable h .Assume the value of K as 1
+scf(1)
+bode(h,0.1,100)//frequency range
+show_margins(h)
+//calculation of system gain K
+K=10^(-28/20)//value of K is calculated by equating 20logK to -28db
+disp(K,'the value of gain')
diff --git a/Working_Examples/3885/CH4/EX4.2/Ex4_2.sce b/Working_Examples/3885/CH4/EX4.2/Ex4_2.sce
new file mode 100755
index 0000000..a308fe8
--- /dev/null
+++ b/Working_Examples/3885/CH4/EX4.2/Ex4_2.sce
@@ -0,0 +1,16 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 4.2
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(75*(1+0.2*s))/(s*(s^2+16*s+100)))//the given transfer function assigned to variable h
+scf(1)
+bode(h,0.1,100)//frequency range
+show_margins(h)
+a=g_margin(h)
+b=p_margin(h)
+disp(a,b,'the gain margin and phase margin  are')
diff --git a/Working_Examples/3885/CH4/EX4.3/Ex4_3.sce b/Working_Examples/3885/CH4/EX4.3/Ex4_3.sce
new file mode 100755
index 0000000..cabb1b9
--- /dev/null
+++ b/Working_Examples/3885/CH4/EX4.3/Ex4_3.sce
@@ -0,0 +1,18 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 4.3
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(%e*(0.2*s)/(s*(s+2)*(s+8))))//the given transfer function assiganed to variable h assume K=1
+scf(1)
+bode(h,0.1,100)//frequency range
+show_margins(h)
+//calculation of K  
+K1=10^(30/20)
+disp(K1 ,'when gain margin =2db ' )
+K2=10^(24/20)
+disp(K2,'the value of K when phase margin is 45')
diff --git a/Working_Examples/3885/CH4/EX4.4/Ex4_4.sce b/Working_Examples/3885/CH4/EX4.4/Ex4_4.sce
new file mode 100755
index 0000000..b2e71f4
--- /dev/null
+++ b/Working_Examples/3885/CH4/EX4.4/Ex4_4.sce
@@ -0,0 +1,14 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 4.4
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(10)/(s*(1+0.4*s)*(1+0.1*s)))//the given transfer function assigned to variable h
+scf(1)
+bode(h,0.1,100)//frequency range
+show_margins(h)
+
diff --git a/Working_Examples/3885/CH4/EX4.5/Ex4_5.sce b/Working_Examples/3885/CH4/EX4.5/Ex4_5.sce
new file mode 100755
index 0000000..5a0abd2
--- /dev/null
+++ b/Working_Examples/3885/CH4/EX4.5/Ex4_5.sce
@@ -0,0 +1,15 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 4.5
+clc;
+clear;
+s=poly(0,'s')////defines s as  poly nomial variable
+h=syslin('c',(20)/(s*(1+3*s)*(1+4*s)))//the given transfer function assigned to variable h
+scf()
+bode(h,0.1,100)
+show_margins(h)
+//calculation of gain cross over frequency
+disp('from the plot the value of gain cross over frequency is :1.1rad/sec')
diff --git a/Working_Examples/3885/CH4/EX4.6/Ex4_6.sce b/Working_Examples/3885/CH4/EX4.6/Ex4_6.sce
new file mode 100755
index 0000000..70be9cc
--- /dev/null
+++ b/Working_Examples/3885/CH4/EX4.6/Ex4_6.sce
@@ -0,0 +1,13 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 4.6
+clc;
+clear;
+s=poly(0,'s')//defines s as  polynomial variable
+h=syslin('c',(5*(1+2*s))/(1+4*s)*(4+0.25*s))//the given transfer function assigned to variable h
+scf(1)
+bode(h,0.1,100)//frequency range
+show_margins(h)
diff --git a/Working_Examples/3885/CH5/EX5.1/Ex5_1.sci b/Working_Examples/3885/CH5/EX5.1/Ex5_1.sci
new file mode 100755
index 0000000..15a5266
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.1/Ex5_1.sci
@@ -0,0 +1,17 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.1
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(s^4)+(8*s^3)+(18*s^2)+(16*s)+5
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('since there is no sign change  the system is stable')
+disp('all the four roots lie left half of the s plane')
diff --git a/Working_Examples/3885/CH5/EX5.12/Ex5_12.sci b/Working_Examples/3885/CH5/EX5.12/Ex5_12.sci
new file mode 100755
index 0000000..c670d7c
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.12/Ex5_12.sci
@@ -0,0 +1,17 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.12
+
+clc;
+clear; 
+s=poly(0,'s')
+//the close loop tranfer function is K(1-s)/s*(s^2+5s+9)+K(1-s)
+a=(s^3)+(5*s^2)+(8*s)+1//the charater stic equation is assuming K=1
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('the valus of K lies between 0 to7.5 for the system to be stable')
diff --git a/Working_Examples/3885/CH5/EX5.13/Ex5_13.sci b/Working_Examples/3885/CH5/EX5.13/Ex5_13.sci
new file mode 100755
index 0000000..3428231
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.13/Ex5_13.sci
@@ -0,0 +1,17 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.13
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(230/(s*(s+2)*(s+10))))//the value of K lies between 0 to 240 .the given transfer function assigned to variable h
+nyquist(h)
+show_margins(h,'nyquist')
+//calculation of K
+//when -0.00417K=-1the contour passes through -1+j0 and the corrospondig value of K is the limiting value of k for stabilty 
+K=1/0.00417
+disp(K,'the value of K is')
diff --git a/Working_Examples/3885/CH5/EX5.14/Ex5_14.sci b/Working_Examples/3885/CH5/EX5.14/Ex5_14.sci
new file mode 100755
index 0000000..bc93177
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.14/Ex5_14.sci
@@ -0,0 +1,16 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.14
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(0.6*(1+s)^2/(s^3)))//the system is stable for K vlaue greater than 0.5. the given transfer function assigned to variable h
+scf()
+nyquist(h)
+show_margins(h,'nyquist')
+//when K>0.5 -1+j0 is encircled in both clockwise and anticlockwise direction one time. so the system is stable
+disp('the system is stable for K vlaue greater than 0.5.')
diff --git a/Working_Examples/3885/CH5/EX5.15/Ex5_15.sci b/Working_Examples/3885/CH5/EX5.15/Ex5_15.sci
new file mode 100755
index 0000000..f4eef5e
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.15/Ex5_15.sci
@@ -0,0 +1,16 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.15
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(1+4*s)/(s*(1+s)*(1+2*s)))//the given transfer function assigned to variable h
+scf()
+nyquist(h)
+show_margins(h,'nyquist')
+disp('the closed loop system is unstable ')
+disp('two poles of closed loop system are lying on right half of s plane')
diff --git a/Working_Examples/3885/CH5/EX5.16/Ex5_16.sci b/Working_Examples/3885/CH5/EX5.16/Ex5_16.sci
new file mode 100755
index 0000000..25d9851
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.16/Ex5_16.sci
@@ -0,0 +1,21 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.16
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(7*(1+0.5*s)*(1+s)/(1+10*s)*(s-1)))//system is stable for K>6.....the given transfer function assigned to variable h
+scf()
+nyquist(h)
+show_margins(h,'nyquist')
+//calculation of K
+//when -0.01667K=-1the contur passes through -1=j0and the corrospong value of K is the limiting value of k for stabilty 
+K=1/0.1667
+disp(K,'the value of K is')
+disp('the open loop system is unstable')
+disp('for stability of closed loop system K>6')
+
diff --git a/Working_Examples/3885/CH5/EX5.17/Ex5_17.sci b/Working_Examples/3885/CH5/EX5.17/Ex5_17.sci
new file mode 100755
index 0000000..157b06b
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.17/Ex5_17.sci
@@ -0,0 +1,14 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.17
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  polynomial variable
+h=syslin('c',(5/(s*(1-s))))//the given transfer function assigned to variable h
+scf()
+nyquist(h)
+disp('Both open loop and closed loop functions are unstable ')
diff --git a/Working_Examples/3885/CH5/EX5.18/Ex5_18.sci b/Working_Examples/3885/CH5/EX5.18/Ex5_18.sci
new file mode 100755
index 0000000..d5327b7
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.18/Ex5_18.sci
@@ -0,0 +1,16 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.28
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(s+2)/(s+1)*(s-1))//the given transfer function assigned to variable h
+scf()
+nyquist(h)
+show_margins(h,'nyquist')
+disp('open loop system is unstable')
+disp('closed loop system is stable;' )
diff --git a/Working_Examples/3885/CH5/EX5.2/Ex5_2.sci b/Working_Examples/3885/CH5/EX5.2/Ex5_2.sci
new file mode 100755
index 0000000..7e9f4d9
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.2/Ex5_2.sci
@@ -0,0 +1,20 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.2
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(s^6)+(2*s^5)+(8*s^4)+(12*s^3)+(20*s^2)+(16*s)+16
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+ap=s^4+6*s^2+8
+r=roots(ap)
+disp(r,'the roots of auxilary polynomial;')
+disp('the system is marginally stable;')
+disp('four roots lying in imaginary axis ;')
diff --git a/Working_Examples/3885/CH5/EX5.22/Ex5_22.sci b/Working_Examples/3885/CH5/EX5.22/Ex5_22.sci
new file mode 100755
index 0000000..a411018
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.22/Ex5_22.sci
@@ -0,0 +1,19 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.22
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+G=syslin('c',(1/(s*(s^2+4*s+13))))//the given transfer function assigned to variable G assume K=1
+scf()
+evans(G)
+//calculation of K
+disp('the characterstic equation is given by : s^2+4*s^2+13*s+K')
+//put s=jw and equate real and imaginary parts
+//K=4*w^2
+K=4*13
+disp(K,'the value of K is ')
diff --git a/Working_Examples/3885/CH5/EX5.23/Ex5_23.sci b/Working_Examples/3885/CH5/EX5.23/Ex5_23.sci
new file mode 100755
index 0000000..feea174
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.23/Ex5_23.sci
@@ -0,0 +1,19 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.23
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(48/(s*(s+2)*(s+4))))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//calculation of K
+disp('the characterstic equation is given by : s^3+6*s^2+8*s+K')
+//put s=jw and equate real and imaginary parts
+//K=4*w^2
+K=6*8
+disp(K,'the value of K is ')
diff --git a/Working_Examples/3885/CH5/EX5.24/Ex5_24.sci b/Working_Examples/3885/CH5/EX5.24/Ex5_24.sci
new file mode 100755
index 0000000..91800d8
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.24/Ex5_24.sci
@@ -0,0 +1,22 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.24
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(s+9)/(s*(s^2+4*s+11)))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//the characterstic equation is (s^3+4s^2+11s)+Ks+9K
+//put s=jw and equating real and imaginary parts to calculate K
+K=(4*(4.4)^2)/9//the value of w is 4.4
+disp(K,'the value of K is;')
+
+
+
+
+
diff --git a/Working_Examples/3885/CH5/EX5.25/Ex5_25.sci b/Working_Examples/3885/CH5/EX5.25/Ex5_25.sci
new file mode 100755
index 0000000..f3c7eb9
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.25/Ex5_25.sci
@@ -0,0 +1,17 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.25
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(1/(s*(s+4)*(s^2+4*s+20))))// the given transfer function assigned to variable h assume K=1  
+scf()
+evans(h)
+//the characterstic equation is (s^4+8s^3+36s^2+80s)+K
+//put s=jw and equating real and imaginary parts to calculate K
+K=-(3.2)^4+36*(3.2)^2//the value of w is 3.2
+disp(K,'yhe value of K is;')
diff --git a/Working_Examples/3885/CH5/EX5.26/Ex5_26.sci b/Working_Examples/3885/CH5/EX5.26/Ex5_26.sci
new file mode 100755
index 0000000..d8e13f3
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.26/Ex5_26.sci
@@ -0,0 +1,17 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.26
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(s+15)/(s*(s+1)*(s+5)))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//the characterstic equation is (s^3+6s^2+5s)+Ks+15K
+//put s=jw and equating real and imaginary parts to calculate K
+K=30/(-4.5)
+disp(K,'yhe value of K is;')
diff --git a/Working_Examples/3885/CH5/EX5.27/Ex5_27.sci b/Working_Examples/3885/CH5/EX5.27/Ex5_27.sci
new file mode 100755
index 0000000..36f588d
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.27/Ex5_27.sci
@@ -0,0 +1,18 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.27
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+K=poly(0,'K')
+h=syslin('c',(s^2+6*s+25)/(s*(s+1)*(s+2)))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//the characterstic equation is (s^3+(3+K)s^2+(2+6K)s)25K
+//put s=jw and equating real and imaginary parts to calculate K
+a=roots((-6*K^2)+5*K-6)
+disp(a,'the value of K is')
diff --git a/Working_Examples/3885/CH5/EX5.28/Ex5_28.sci b/Working_Examples/3885/CH5/EX5.28/Ex5_28.sci
new file mode 100755
index 0000000..64e45a9
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.28/Ex5_28.sci
@@ -0,0 +1,17 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.28
+
+clc;
+clear;
+s=poly(0,'s')//defines s as  poly nomial variable
+h=syslin('c',(1/(s*(s^2+6*s+10))))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//the characterstic equation is (s^3+6s^2+10s)+K
+//put s=jw and equating real and imaginary parts to calculate K
+K=6*(3.2)^2//the valuw of w is 3.2
+disp(K,'the value of K is ')
diff --git a/Working_Examples/3885/CH5/EX5.3/Ex5_3.sci b/Working_Examples/3885/CH5/EX5.3/Ex5_3.sci
new file mode 100755
index 0000000..b295151
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.3/Ex5_3.sci
@@ -0,0 +1,16 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.3
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(s^5)+(s^4)+(2*s^3)+(2*s^2)+(3*s)+5
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('the system is unstable')
diff --git a/Working_Examples/3885/CH5/EX5.4/Ex5_4.sci b/Working_Examples/3885/CH5/EX5.4/Ex5_4.sci
new file mode 100755
index 0000000..972e7e1
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.4/Ex5_4.sci
@@ -0,0 +1,17 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.4
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(9*s^5)-(20*s^4)+(10*s^3)-(s^2)-(9*s)-10
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('there are 3 sign changes in first column of routh array ')
+disp('three roots lie on right side of s plane so the system is unstable')
diff --git a/Working_Examples/3885/CH5/EX5.5/Ex5_5.sci b/Working_Examples/3885/CH5/EX5.5/Ex5_5.sci
new file mode 100755
index 0000000..78c8584
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.5/Ex5_5.sci
@@ -0,0 +1,21 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.5
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(s^7)+(9*s^6)+(24*s^5)+(24*s^4)+(24*s^3)+(24*s^2)+(23*s)+15
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('there is sign change in first column of routh array so ths system is unstable;')
+ae=s^4+s^2+1
+r=roots(ae)
+disp(r,'the roots of auxilary equation are')
+disp('two roots lie on right half of splane five roots lie on left half of s plane')
+
diff --git a/Working_Examples/3885/CH5/EX5.6/Ex5_6.sci b/Working_Examples/3885/CH5/EX5.6/Ex5_6.sci
new file mode 100755
index 0000000..d513434
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.6/Ex5_6.sci
@@ -0,0 +1,27 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.6
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(s^7)+(5*s^6)+(9*s^5)+(9*s^4)+(4*s^3)+(20*s^2)+(36*s)+36
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+//divide characterstic equation by auxilary polynomial to get quotient polynomial
+//routh table for quotient poly nomial
+a1=(s^3)+(5*s^2)+(9*s)+9 //quotient poly nomial
+b1=coeff(a1)
+n1=length(b1)
+R1=routh_t(a1)
+disp(R1,'the routh array for quotient poly nomial is;')
+ap=s^4+4 //auxillary polynomial
+r=roots(ap)
+disp(r,'the roots are')
+disp('the system is unstable')
+disp('two roots on right half of s plane and five roots lie in left half of s plane')
diff --git a/Working_Examples/3885/CH5/EX5.7/Ex5_7.sci b/Working_Examples/3885/CH5/EX5.7/Ex5_7.sci
new file mode 100755
index 0000000..6111bfe
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.7/Ex5_7.sci
@@ -0,0 +1,20 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.7
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(s^5)+(4*s^4)+(8*s^3)+(8*s^2)+(7*s)+4
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+ap=s^2+1
+r=roots(ap)
+disp(r,'the roots are')
+disp ('the roots of auxillary equation are in imagianry axis so the system is marginally stable')
+disp('three roots lie in left half of s plane')
diff --git a/Working_Examples/3885/CH5/EX5.8/Ex5_8.sci b/Working_Examples/3885/CH5/EX5.8/Ex5_8.sci
new file mode 100755
index 0000000..9de51e2
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.8/Ex5_8.sci
@@ -0,0 +1,28 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.8
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(s^6)+(s^5)+(3*s^4)+(3*s^3)+(3*s^2)+(2*s)+1
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;') 
+//characterstic polynomial can be expressed as product of auxillary polynomial and quotient polynomial
+//divide characterstic equation by auxilary polynomial to get quotient polynomial
+//routh table for quotient poly nomial
+a1=(s^4)+(s^3)+(2*s^2)+(2*s)+1 //quotient poly nomial
+b1=coeff(a1)
+n1=length(b1)
+R1=routh_t(a1)
+disp(R1,'the routh array for quotient poly nomial is;')
+ap=s^2+1
+r=roots(ap)
+disp(r,'the roots are')
+disp('the system is unstable')
+disp('two roota on imaginary axis ,two roots on right half of s plane and two roots lie in left half of s plane')
diff --git a/Working_Examples/3885/CH5/EX5.9/Ex5_9.sci b/Working_Examples/3885/CH5/EX5.9/Ex5_9.sci
new file mode 100755
index 0000000..d9b5660
--- /dev/null
+++ b/Working_Examples/3885/CH5/EX5.9/Ex5_9.sci
@@ -0,0 +1,17 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.9
+
+clc;
+clear; 
+s=poly(0,'s')
+//the close loop tranfer function is K/s*(s+1)*(s+2)+K
+a=(s^3)+(3*s^2)+(2*s)+1//the characterstic equation assuming K=1
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('the valus of K lies between 0 to6 for the system to be stable')
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")
+
diff --git a/Working_Examples/3885/CH7/EX7.10/Ex7_10.sci b/Working_Examples/3885/CH7/EX7.10/Ex7_10.sci
new file mode 100755
index 0000000..f4ed6fb
--- /dev/null
+++ b/Working_Examples/3885/CH7/EX7.10/Ex7_10.sci
@@ -0,0 +1,14 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 7.10
+
+clc;
+clear; 
+s=%s
+p=poly([10],'s','coeff')
+q=poly([1 2 4 1],'s','coeff')
+sm=cont_frm(p,q)
+disp(sm,'the state model in matrix form is')
diff --git a/Working_Examples/3885/CH7/EX7.10/Ex7_10.xcos b/Working_Examples/3885/CH7/EX7.10/Ex7_10.xcos
new file mode 100755
index 0000000..420a28d
--- /dev/null
+++ b/Working_Examples/3885/CH7/EX7.10/Ex7_10.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="30.0" title="Ex7_10"><!--Xcos - 1.0 - scilab-5.5.2 - 20160406 2040--><mxGraphModel as="model"><root><mxCell id="0:1:0"/><mxCell id="0:2:0" parent="0:1:0"/><BasicBlock id="-3088270e:166584c7420:-7f30" interfaceFunctionName="STEP_FUNCTION" ordering="1" parent="0:2:0" simulationFunctionName="csuper" simulationFunctionType="DEFAULT" style="STEP_FUNCTION"><ScilabDouble as="exprs" height="0" width="0"/><Array as="realParameters" scilabClass="ScilabMList" varName=""><ScilabString height="1" width="5"><data column="0" line="0" value="diagram"/><data column="1" line="0" value="props"/><data column="2" line="0" value="objs"/><data column="3" line="0" value="version"/><data column="4" line="0" value="contrib"/></ScilabString><Array scilabClass="ScilabTList"><ScilabString height="1" width="11"><data column="0" line="0" value="params"/><data column="1" line="0" value="wpar"/><data column="2" line="0" 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x="16.0" y="40.0"/></CommandPort><CommandControlLink id="-3088270e:166584c7420:-7eec" parent="0:2:0" source="-3088270e:166584c7420:-7eed" target="-3088270e:166584c7420:-7ef4"><mxGeometry as="geometry"><mxPoint as="sourcePoint" x="360.0" y="70.0"/><mxPoint as="targetPoint" x="360.0" y="110.0"/></mxGeometry></CommandControlLink></root></mxGraphModel><mxCell as="defaultParent" id="0:2:0" parent="0:1:0"/></XcosDiagram>
+\ No newline at end of file
diff --git a/Working_Examples/3885/CH7/EX7.11/Ex7_11.sci b/Working_Examples/3885/CH7/EX7.11/Ex7_11.sci
new file mode 100755
index 0000000..0ff5845
--- /dev/null
+++ b/Working_Examples/3885/CH7/EX7.11/Ex7_11.sci
@@ -0,0 +1,14 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 7.11
+
+clc;
+clear; 
+s=%s
+p=poly([40 10],'s','coeff')
+q=poly([0 3 4 1],'s','coeff')
+sm=cont_frm(p,q)
+disp(sm,'the state model in matrix form is')
diff --git a/Working_Examples/3885/CH7/EX7.11/Ex7_11.xcos b/Working_Examples/3885/CH7/EX7.11/Ex7_11.xcos
new file mode 100755
index 0000000..1e3b0f8
--- /dev/null
+++ b/Working_Examples/3885/CH7/EX7.11/Ex7_11.xcos
@@ -0,0 +1 @@
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id="444cf09b:167c0310107:-7f81" parent="0:2:0" source="444cf09b:167c0310107:-7f85" target="444cf09b:167c0310107:-7e7c"><mxGeometry as="geometry"><mxPoint as="sourcePoint" x="270.0" y="210.0"/><mxPoint as="targetPoint" x="330.0" y="220.0"/></mxGeometry></ExplicitLink></root></mxGraphModel><mxCell as="defaultParent" id="0:2:0" parent="0:1:0"/></XcosDiagram>
+\ No newline at end of file
diff --git a/Working_Examples/3885/CH7/EX7.12/Ex7_12.sci b/Working_Examples/3885/CH7/EX7.12/Ex7_12.sci
new file mode 100755
index 0000000..11e0d08
--- /dev/null
+++ b/Working_Examples/3885/CH7/EX7.12/Ex7_12.sci
@@ -0,0 +1,16 @@
+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 7.12
+
+clc;
+clear; 
+s=%s
+h=syslin('c',(2*(s+5))/((s+2)*(s+3)*(s+4)))
+disp(h,'thr transfer function is')
+ss=tf2ss(h)
+disp(ss,'the state space model is')
+[Ac,Bc,U,ind]=canon(ss(2),ss(3))
+disp(Ac,Bc,U,ind)
diff --git a/Working_Examples/3885/CH7/EX7.12/Ex7_12.xcos b/Working_Examples/3885/CH7/EX7.12/Ex7_12.xcos
new file mode 100755
index 0000000..0b19775
--- /dev/null
+++ b/Working_Examples/3885/CH7/EX7.12/Ex7_12.xcos
@@ -0,0 +1 @@
+<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="30.0" title="Ex7_12"><!--Xcos - 1.0 - scilab-5.5.2 - 20160406 2040--><mxGraphModel as="model"><root><mxCell id="0:1:0"/><mxCell id="0:2:0" parent="0:1:0"/><BasicBlock dependsOnT="1" id="73e2fecc:16667084192:-7b32" interfaceFunctionName="CLSS" ordering="1" parent="0:2:0" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLSS"><ScilabString as="exprs" height="5" width="1"><data column="0" line="0" value="[-2 0 0;0 -3 0;0 0 -4]"/><data column="0" line="1" value="[1;1;1]"/><data column="0" line="2" value="[3 -4  1]"/><data column="0" line="3" value="0"/><data column="0" line="4" value="[0; 0; 1]"/></ScilabString><ScilabDouble as="realParameters" height="16" width="1"><data column="0" line="0" realPart="-2.0"/><data column="0" line="1" realPart="0.0"/><data column="0" line="2" realPart="0.0"/><data column="0" line="3" realPart="0.0"/><data column="0" line="4" 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+\ No newline at end of file
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/3885
parent	52a477ec613900885e29c4a0b02806a415b4f83a (diff)
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