41 files changed, 706 insertions, 0 deletions
diff --git a/Working_Examples/3432/CH5/EX5.1/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.1/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.1/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/CH5/EX5.1/Ex5_1.sce b/Working_Examples/3432/CH5/EX5.1/Ex5_1.sce
new file mode 100755
index 0000000..ae71ca2
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.1/Ex5_1.sce
@@ -0,0 +1,26 @@
+//Example 5.1
+//Root locus of a Motor Position Control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+Ls=1/(s*(s+1));
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+evans(Ls)
+title(['Root locus for', '$L(s)=1/[s(s+1)]$'],'fontsize',3)
+zoom_rect([-2 -1.5 2 1.5])
+sgrid([0.5],1,5)
+xset("font",1,1.5) 
+xstring(-1.2,1.1,'$\theta=sin^{-1} \xi$",0,0)
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.1/Ex5_1_f0.pdf b/Working_Examples/3432/CH5/EX5.1/Ex5_1_f0.pdf
new file mode 100755
index 0000000..0ff03c9
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.1/Ex5_1_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.10/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.10/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.10/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/CH5/EX5.10/Ex5_10.sce b/Working_Examples/3432/CH5/EX5.10/Ex5_10.sce
new file mode 100755
index 0000000..ed860c1
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.10/Ex5_10.sce
@@ -0,0 +1,56 @@
+//Example 5.10
+//Design using Lead compensator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+
+NumG=1;
+DenG=s*(s+1);
+NumD=(s+2);
+DenD=(s+10);
+
+G=NumG/DenG;
+D=NumD/DenD;
+
+L=G*D; //open loop transfer function
+
+figure(0)
+evans(L)
+sgrid(0.5,7,6);
+
+xstring(-2,4,"Damping=0.5",0,0)
+xstring(-7,4,"w=7",0,0)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for lead design','fontsize',3)
+zoom_rect([-14 -8 4 8])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+// Unit step response
+//closed loop system
+K=70;
+sysc=K*L/(1+K*L);
+sysc=syslin('c',sysc);
+t=linspace(0,10,1000);
+y=csim('step',t,sysc);
+figure(1)
+plot(t,y);
+title('Step response for the system with lead compensator','fontsize',3)
+xlabel('Time (sec)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+set(gca(),"grid",[0.3 0.3])
+zoom_rect([0 0 1.8 1.4])
+exec .\fig_settings.sci;
+
+scf(0)
+pl=roots(DenG*DenD+K*NumG*NumD)     //closed loop poles at K=70;
+plot(real(pl),imag(pl),'ro')       //closed loop pole-locations at K=70;
+xstring(-5.8,6,"K=70",0,0)
+//------------------------------------------------------------------
+
diff --git a/Working_Examples/3432/CH5/EX5.10/Ex5_10_f0.pdf b/Working_Examples/3432/CH5/EX5.10/Ex5_10_f0.pdf
new file mode 100755
index 0000000..35fbc64
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.10/Ex5_10_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.10/Ex5_10_f1.pdf b/Working_Examples/3432/CH5/EX5.10/Ex5_10_f1.pdf
new file mode 100755
index 0000000..8ce5551
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.10/Ex5_10_f1.pdf
diff --git a/Working_Examples/3432/CH5/EX5.11/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.11/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.11/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/CH5/EX5.11/Ex5_11.sce b/Working_Examples/3432/CH5/EX5.11/Ex5_11.sce
new file mode 100755
index 0000000..ca9925b
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.11/Ex5_11.sce
@@ -0,0 +1,78 @@
+//Example 5.11
+//A second  Lead compensation Design. 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+
+NumG=1;
+DenG=s*(s+1);
+NumD=(s+5.4);
+DenD=(s+20);
+
+Gs=NumG/DenG;
+Ds=NumD/DenD;
+
+Ls=Gs*Ds;   //open loop transfer function
+
+zr=roots(NumD*NumG); //open loop system zeros
+pl=roots(DenD*DenG); //open loop system poles
+pd=-3.5+3.5*sqrt(3)*%i; //desired pole
+
+//Construction for placing a specific point on the root locus.
+figure(0)
+plzr(Ls)
+plot(real(pd),imag(pd),'ro')
+xarrows([real(pl(1));real(pd)],[imag(pl(1));imag(pd)],0,2)
+xarrows([real(pl(2));real(pd)],[imag(pl(2));imag(pd)],0,2)
+xarrows([real(pl(3));real(pd)],[imag(pl(3));imag(pd)],0,2)
+xarrows([real(zr);real(pd)],[imag(zr);imag(pd)],0,6)
+xarrows([real(zr);-3],[0;0],0,6)
+xarc(-6.4,1,2,2,0,72.6*64)
+xset('font size',1.5);
+xstring(-4.7,0.5,"$\psi$")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Construction for placing a specific point on the root locus',...
+'fontsize',3)
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+//Root locus of system transfer function with controller
+figure(1)
+evans(Ls)
+sgrid(0.5,7,6)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Root locus for','$ L(s)=\frac {s+5.4}{s(s+1)(s+20)}$'],...
+'fontsize',3)
+zoom_rect([-20 -8 5 8])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+// Unit step response
+//closed loop system
+
+K=127;  // from root locus gain  is computed 
+sysc=K*Ls/(1+K*Ls)
+sysc=syslin('c',sysc);
+t=linspace(0,10,1000);
+y=csim('step',t,sysc);
+figure(2)
+plot(t,y);
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Step response for K=127', 'and',...
+'$ L(s)=\frac {s+5.4}{s(s+1)(s+20)}$']...
+,'fontsize',3)
+xlabel('Time (sec)','fontsize',2)
+ylabel('Amplitude','fontsize',2)
+zoom_rect([0 0 1.8 1.4])
+
+pl=roots(DenG*DenD+K*NumG*NumD) //closed loop poles at K=127;
+scf(1)
+plot(real(pl),imag(pl),'ro') //closed loop pole-locations at K=127;
+//------------------------------------------------------------------
+
diff --git a/Working_Examples/3432/CH5/EX5.11/Ex5_11_f1.pdf b/Working_Examples/3432/CH5/EX5.11/Ex5_11_f1.pdf
new file mode 100755
index 0000000..bc4787a
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.11/Ex5_11_f1.pdf
diff --git a/Working_Examples/3432/CH5/EX5.11/Ex5_11_f2.pdf b/Working_Examples/3432/CH5/EX5.11/Ex5_11_f2.pdf
new file mode 100755
index 0000000..0c84944
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.11/Ex5_11_f2.pdf
diff --git a/Working_Examples/3432/CH5/EX5.12/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.12/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.12/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/CH5/EX5.12/Ex5_12.sce b/Working_Examples/3432/CH5/EX5.12/Ex5_12.sce
new file mode 100755
index 0000000..fdff148
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.12/Ex5_12.sce
@@ -0,0 +1,24 @@
+//Example 5.12
+//Negative root Locus for an Airplane.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+Ls=-(s-6)/(s*(s^2+4*s+13));
+evans(Ls)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Negative root locus for','$L(s)=\frac{s-6}{s(s^2+4s+13)}$'],...
+'fontsize',3)
+zoom_rect([-5 -6 10 6])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.12/Ex5_12_f0.pdf b/Working_Examples/3432/CH5/EX5.12/Ex5_12_f0.pdf
new file mode 100755
index 0000000..2dee947
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.12/Ex5_12_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.2/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.2/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.2/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.2/Ex5_2.sce b/Working_Examples/3432/CH5/EX5.2/Ex5_2.sce
new file mode 100755
index 0000000..74f7304
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.2/Ex5_2.sce
@@ -0,0 +1,22 @@
+//Example 5.2
+//Root locus with respect to a plant open loop pole.
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+s=poly(0,'s');
+Gs=s/(s*s+1);
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+evans(Gs,100)
+title(['Root locus vs. damping factor','$c$',...
+'for','$1+G(s)=1+1/[s(s+c)]=0$'],'fontsize',3)
+zoom_rect([-2 -1.5 2 1.5])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
+
diff --git a/Working_Examples/3432/CH5/EX5.2/Ex5_2_f0.pdf b/Working_Examples/3432/CH5/EX5.2/Ex5_2_f0.pdf
new file mode 100755
index 0000000..e1e4da3
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.2/Ex5_2_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.3/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.3/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.3/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/CH5/EX5.3/Ex5_3.sce b/Working_Examples/3432/CH5/EX5.3/Ex5_3.sce
new file mode 100755
index 0000000..95d400c
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.3/Ex5_3.sce
@@ -0,0 +1,22 @@
+//Example 5.3
+//Root locus for satellite attitude control with PD control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+sysS=(s+1)/(s^2);
+evans(sysS,100)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for','$L(s)=G(s)=(s+1)/s^2$'],'fontsize',3)
+zoom_rect([-6 -3 2 3])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.3/Ex5_3_f0.pdf b/Working_Examples/3432/CH5/EX5.3/Ex5_3_f0.pdf
new file mode 100755
index 0000000..3f4f9cd
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.3/Ex5_3_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.4/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.4/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.4/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/CH5/EX5.4/Ex5_4.sce b/Working_Examples/3432/CH5/EX5.4/Ex5_4.sce
new file mode 100755
index 0000000..2a17aed
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.4/Ex5_4.sce
@@ -0,0 +1,23 @@
+//Example 5.4
+//Root locus for satellite attitude control with modified 
+//PD control or Lead compensator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+sysL=(s+1)/(s^2*(s+12));
+evans(sysL,100)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for', '$L(s)=(s+1)/s^2(s+12)$'],'fontsize',3)
+zoom_rect([-6 -3 2 3])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.4/Ex5_4_f0.pdf b/Working_Examples/3432/CH5/EX5.4/Ex5_4_f0.pdf
new file mode 100755
index 0000000..d81a20e
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.4/Ex5_4_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.5/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.5/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.5/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/CH5/EX5.5/Ex5_5.sce b/Working_Examples/3432/CH5/EX5.5/Ex5_5.sce
new file mode 100755
index 0000000..2773f40
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.5/Ex5_5.sce
@@ -0,0 +1,22 @@
+//Example 5.5
+//Root locus for satellite control with Lead compensator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+sysL=(s+1)/(s^2*(s+4));
+evans(sysL)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for', '$L(s)=(s+1)/s^2(s+4)$'],'fontsize',3)
+zoom_rect([-6 -3 2 3])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.5/Ex5_5_f0.pdf b/Working_Examples/3432/CH5/EX5.5/Ex5_5_f0.pdf
new file mode 100755
index 0000000..abef9d5
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.5/Ex5_5_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.6/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.6/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.6/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/CH5/EX5.6/Ex5_6.sce b/Working_Examples/3432/CH5/EX5.6/Ex5_6.sce
new file mode 100755
index 0000000..a2573d6
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.6/Ex5_6.sce
@@ -0,0 +1,23 @@
+//Example 5.6
+//Root locus for satellite attitude control with a 
+//Transition value for the pole.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function and its root locus 
+
+s=poly(0,'s');
+sysL=(s+1)/(s^2*(s+9));
+evans(sysL)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for', '$L(s)=(s+1)/(s^2(s+9))$'],'fontsize',3)
+zoom_rect([-6 -3 2 3])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.6/Ex5_6_f0.pdf b/Working_Examples/3432/CH5/EX5.6/Ex5_6_f0.pdf
new file mode 100755
index 0000000..9fc7e64
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.6/Ex5_6_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.7/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.7/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.7/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/CH5/EX5.7/Ex5_7.sce b/Working_Examples/3432/CH5/EX5.7/Ex5_7.sce
new file mode 100755
index 0000000..756952f
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.7/Ex5_7.sce
@@ -0,0 +1,116 @@
+//Example 5.7
+//Root locus for satellite control with a Collocated Flexibility. 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function with controller.
+
+s=poly(0,'s');
+NumD=(s+1);
+DenD=(s+12);
+D=NumD/DenD;
+
+NumG=(s+0.1)^2+36
+DenG=s^2*((s+0.1)^2+(6.6)^2)
+
+G=NumG/DenG;
+
+NumL=NumD*NumG;
+DenL=DenD*DenG;
+
+L=NumL/DenL;
+
+zr=roots(NumL);
+pl=roots(DenL);
+
+//------------------------------------------------------------------
+//Angle of departure.
+//Find angle of departure from pole at phi1= - 0.1 + 6.6i
+//(real poles don't have angle of departure,
+//they move along real axis only) 
+//psi1=angle[(Departing pole)- (zero at - 0.1 + 6.6i)]
+[Mpsi1, psi1] = polar(pl(2)-zr(1))
+psi1=real(psi1)*180/%pi;           //angle in degree
+
+//psi2=angle[(Departing pole)- (zero at - 0.1 - 6.6i)]
+[Mpsi2, psi2] = polar(pl(2)-zr(2)) 
+psi2=real(psi2)*180/%pi;           //angle in degree
+
+//psi3=angle[(Departing pole)- (zero at - 1)]
+[Mpsi3, psi3] = polar(pl(2)-zr(3)) 
+psi3=real(psi3)*180/%pi;           //angle in degree
+
+//phi2=angle[(Departing pole)- (pole at 0)]
+[Mphi2, phi2] = polar(pl(2)-pl(4)) 
+phi2=real(phi2)*180/%pi;           //angle in degree
+
+//phi3 is same as phi2, as pole is repeated at 0.
+phi3=phi2;                         
+
+//phi4=angle[(Departing pole)-(pole at - 0.1 - 6.6i )]
+[Mphi4, phi4] = polar(pl(2)-pl(3)) 
+phi4=real(phi4)*180/%pi;           //angle in degree
+
+//phi5=angle[(Departing pole)- (pole at - 12 )]
+[Mphi5, phi5] = polar(pl(2)-pl(1))
+phi5=real(phi5)*180/%pi;           //angle in degree
+
+//Therefore angle of departure phi1 at - 0.1 + 6.6i is
+//phi1 = 180 + sum(angle to zeros) - sum(angle to poles)
+
+phi1 = 180 + sum(psi1+psi2+psi3) - sum(phi2+phi3+phi4+phi5)
+
+//angle contributions in figure 
+figure(0)
+plzr(L)
+xset('font size',1.5)
+xarrows([real(pl(1));real(pl(2))],[imag(pl(1));imag(pl(2))],0,2)
+xarc(-13,1,2,2,0,phi5*64)
+xstring(-11,0.05,"$\phi_5$")
+
+
+xarrows([real(zr(3));real(pl(2))],[imag(zr(3));imag(pl(2))],0,4)
+xarc(-2,1,2,2,0,psi3*64)
+xstring(-0.7,1,"$\psi_3$")
+
+xarrows([real(pl(4));real(pl(2))],[imag(pl(4));imag(pl(2))],0,5)
+xarc(-1,1,2,2,0,phi2*64)
+xstring(0.8,0.5,"$\phi_2,\,\phi_3$")
+
+
+xarrows([real(pl(3));real(pl(2))],[imag(pl(3));imag(pl(2))],0,3)
+xarc(-1,-6.6,2,2,0,phi4*64)
+xstring(0.8,-7,"$\phi_4$")
+
+xarrows([real(zr(2));real(pl(2))],[imag(zr(2));imag(pl(2))],0,6)
+xarc(-1,-5,2,2,0,psi2*64)
+xstring(0.8,-5.5,"$\psi_2$")
+
+xarrows([real(zr(1));real(pl(2))],[imag(zr(1));imag(pl(2))],0,24)
+xstring(0.3,5.5,"$\psi_1$")
+xstring(0.3,6.5,"$\phi_1$")
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Figure for computing a departure angle for',...
+'$L(s)=\frac{s+1}{s+12}\frac{(s+0.1)^2+6^2}{s^2[(s+0.1)^2+6.6^2]}$'],...
+'fontsize',3)
+zoom_rect([-15 -8 5 8])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
+//Root locus system transfer function with controller.
+figure(1)
+evans(L)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Root locus for','$L(s)=\frac{s+1}{s+12}\frac{(s+0.1)^2+6^2}...
+{s^2[(s+0.1)^2+6.6^2]}$'],'fontsize',3)
+zoom_rect([-15 -8 5 8])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.7/Ex5_7_f0.pdf b/Working_Examples/3432/CH5/EX5.7/Ex5_7_f0.pdf
new file mode 100755
index 0000000..a336a69
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.7/Ex5_7_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.7/Ex5_7_f1.pdf b/Working_Examples/3432/CH5/EX5.7/Ex5_7_f1.pdf
new file mode 100755
index 0000000..9bbc5ea
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.7/Ex5_7_f1.pdf
diff --git a/Working_Examples/3432/CH5/EX5.8/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.8/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.8/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/CH5/EX5.8/Ex5_8.sce b/Working_Examples/3432/CH5/EX5.8/Ex5_8.sce
new file mode 100755
index 0000000..9df35f1
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.8/Ex5_8.sce
@@ -0,0 +1,105 @@
+//Example 5.8
+//Root locus for noncollocated case.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+
+//------------------------------------------------------------------
+//System transfer function with controller 
+
+s=poly(0,'s');
+NumD=(s+1);
+DenD=(s+12);
+sysD=NumD/DenD;
+
+NumG=1
+DenG=s^2*((s+0.1)^2+(6.6)^2)
+
+sysG=NumG/DenG;
+
+NumL=NumD*NumG;
+DenL=DenD*DenG;
+
+sysL=NumL/DenL;
+
+zr=roots(NumL);
+pl=roots(DenL);
+
+//------------------------------------------------------------------
+//Angle of departure.
+//Find angle of departure from pole at phi1= - 0.1 + 6.6i
+//(real poles don't have angle of departure,
+//they move along real axis only) 
+
+//psi1=angle[(Departing pole)- (zero at - 1]
+[Mpsi1, psi1] = polar(pl(2)-zr(1)) 
+psi1=real(psi1)*180/%pi;           //angle in degree
+
+//phi2=angle[(Departing pole)- (pole at 0)]
+[Mphi2, phi2] = polar(pl(2)-pl(4)) 
+phi2=real(phi2)*180/%pi;           //angle in degree
+
+//phi3 is same as phi2, as pole is repeated at 0.
+phi3=phi2;                         
+
+//phi4=angle[(Departing pole)-(pole at - 0.1 - 6.6i )]
+[Mphi4, phi4] = polar(pl(2)-pl(3)) 
+phi4=real(phi4)*180/%pi;           //angle in degree
+
+//phi5=angle[(Departing pole)- (pole at - 12 )]
+[Mphi5, phi5] = polar(pl(2)-pl(1)) 
+phi5=real(phi5)*180/%pi;           //angle in degree
+
+//Therefore angle of departure phi1 at - 0.1 + 6.6i is
+//phi1 = 180 + sum(angle to zeros) - sum(angle to poles)
+
+phi1 = 180 + sum(psi1) - sum(phi2+phi3+phi4+phi5)
+
+//angle contributions in figure 
+figure(0)
+plzr(sysL)
+xset('font size',1.5)
+xarrows([real(pl(1));real(pl(2))],[imag(pl(1));imag(pl(2))],0,2)
+xarrows([real(pl(1)); -10],[0;0],0,2)
+xarc(-13,1,2,2,0,phi5*64)
+xstring(-11,0.05,"$\phi_5$")
+
+xarrows([real(zr(1));real(pl(2))],[imag(zr(1));imag(pl(2))],0,6)
+xarrows([real(zr(1)); -0.3],[0;0],0,6)
+xarc(-2,1,2,2,0,psi1*64)
+xstring(-0.7,1,"$\psi_1$")
+
+xarrows([real(pl(4));real(pl(2))],[imag(pl(4));imag(pl(2))],0,5)
+xarrows([real(pl(4)); 1],[0;0],0,5)
+xarc(-1,1,2,2,0,phi2*64)
+xstring(0.8,0.5,"$\phi_2,\,\phi_3$")
+
+xarrows([real(pl(3));real(pl(2))],[imag(pl(3));imag(pl(2))],0,17)
+xarrows([real(pl(3)); 2],[imag(pl(3));imag(pl(3))],0,17)
+xarc(-1.1,-5.6,2,2,0,phi4*64)
+xstring(0.8,-5.5,"$\phi_4$")
+
+xstring(0.3,6.5,"$\phi_1$")
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Figure to compute a departure angle for',...
+'$L(s)=\frac{s+1}{s+12}\frac{1}{s^2[(s+0.1)^2+6.6^2]}$'],...
+'fontsize',3)
+zoom_rect([-15 -8 5 8])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
+//Root locus of system transfer function with controller
+figure(1)
+evans(sysL)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Root locus for','$L(s)=\frac{s+1}{s+12}\frac{1}...
+{s^2[(s+0.1)^2+6.6^2]}$'],'fontsize',3)
+zoom_rect([-15 -8 5 8])
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.8/Ex5_8_f0.pdf b/Working_Examples/3432/CH5/EX5.8/Ex5_8_f0.pdf
new file mode 100755
index 0000000..c6c9959
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.8/Ex5_8_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.8/Ex5_8_f1.pdf b/Working_Examples/3432/CH5/EX5.8/Ex5_8_f1.pdf
new file mode 100755
index 0000000..c177764
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.8/Ex5_8_f1.pdf
diff --git a/Working_Examples/3432/CH5/EX5.9/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH5/EX5.9/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.9/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/CH5/EX5.9/Ex5_9.sce b/Working_Examples/3432/CH5/EX5.9/Ex5_9.sce
new file mode 100755
index 0000000..8b88c95
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.9/Ex5_9.sce
@@ -0,0 +1,81 @@
+//Example 5.9
+//Root locus for the system having complex multiple roots.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function
+
+s=poly(0,'s');
+
+NumL=1;
+DenL=s*(s+2)*[(s+1)^2+4];
+
+L=NumL/DenL;
+
+zr=roots(NumL);
+pl=roots(DenL);
+
+//------------------------------------------------------------------
+//Angle of departure.
+//Find angle of departure from pole at phi1= - 1 + 2i
+//(real poles don't have angle of departure,
+// they move along real axis only) 
+
+//phi2=angle[(Departing pole)- (pole at 0)]
+[Mphi1, phi1] = polar(pl(1)-pl(4)) 
+phi1=real(phi1)*180/%pi;           //angle in degree
+
+//phi2=angle[(Departing pole)- (pole at -2)]
+[Mphi2, phi2] = polar(pl(1)-pl(3)) 
+phi2=real(phi2)*180/%pi;           //angle in degree
+
+//phi2=angle[(Departing pole)- (pole at - 1 - 2i)]
+[Mphi4, phi4] = polar(pl(1)-pl(2))
+phi4=real(phi4)*180/%pi;           //angle in degree
+
+//Therefore angle of departure phi1 at - 1 + 2i is
+//phi3 = 180 + sum(angle to zeros) - sum(angle to poles)
+
+phi3 = 180 - sum(phi1+phi2+phi4)
+
+//angle contributions in figure 
+figure(0)
+plzr(L)
+xset('font size',1.5)
+xarrows([real(pl(4));real(pl(1))],[imag(pl(4));imag(pl(1))],0,2)
+xarrows([real(pl(4)); 1],[0;0],0,2)
+xarc(-0.5,0.5,1,1,0,phi1*64)
+xstring(0.5,0.25,"$\phi_1$")
+
+xarrows([real(pl(3));real(pl(1))],[imag(pl(3));imag(pl(1))],0,5)
+xarrows([real(pl(3)); -1.3],[0;0],0,5)
+xarc(-2.5,0.5,1,1,0,phi2*64)
+xstring(-1.5,0.25,"$\phi_2$")
+
+xarrows([real(pl(2));real(pl(1))],[imag(pl(2));imag(pl(1))],0,17)
+xarrows([real(pl(2)); -0.3],[-2;-2],0,17)
+xarc(-1.5,-1.5,1,1,0,phi4*64)
+xstring(-0.5,-1.7,"$\phi_4$")
+
+xstring(-0.8,2,"$\phi_1$")
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(['Figure to computing a departure angle for',...
+'$L(s)=\frac{1}{s(s+2)[(s+1)^2+4]}$'],'fontsize',3)
+zoom_rect([-4 -3 4 3])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+//Root locus of system transfer function with controller
+figure(1)
+evans(L)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title(['Root locus for','$L(s)=\frac{1}{s(s+2)[(s+1)^2+4]}$']...
+,'fontsize',3)
+zoom_rect([-4 -3 4 3])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH5/EX5.9/Ex5_9_f0.pdf b/Working_Examples/3432/CH5/EX5.9/Ex5_9_f0.pdf
new file mode 100755
index 0000000..32d94e9
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.9/Ex5_9_f0.pdf
diff --git a/Working_Examples/3432/CH5/EX5.9/Ex5_9_f1.pdf b/Working_Examples/3432/CH5/EX5.9/Ex5_9_f1.pdf
new file mode 100755
index 0000000..f2f030a
--- /dev/null
+++ b/Working_Examples/3432/CH5/EX5.9/Ex5_9_f1.pdf