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+//Example 6.13
+// Use of simple design criterion for spacecraft attitude control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+G=1/s^2;
+g1=syslin('c',G);
+
+//The bode plot of the system
+zoom_rect([0.01 -20 100 60])
+bode(g1,0.05/2/%pi,2/2/%pi,"rad")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Magnitude of the spacecrafts frequency','fontsize',3)
+//------------------------------------------------------------------
+
+K=1;
+Td=20;
+Ds=(Td*s+1);
+gd1=syslin('c',K*Ds*G);
+
+////The bode plot of compnenstaed open loop system
+figure
+bode(gd1,0.01/2/%pi,1/2/%pi,"rad")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Bode plot for compensated open-loop transfer function'...
+,'fontsize',3)
+xstring(0.02,70,"-40db/decade",0,0);
+xstring(0.2,40,"-20db/decade",0,0);
+
+//The bode plot of compnenstaed closed loop system
+K=0.01;
+gc1=K*gd1/(1+K*gd1);
+gcl1=syslin('c',gc1);
+figure
+bode(gcl1,0.01/2/%pi,10/2/%pi,"rad")
+title('Closesd loop frequency response','fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+
+//Bandwidth
+[frq, repf,splitf]=repfreq(gc1,[0.01/2/%pi:0.001:10/2/%pi]);
+[db, phi]=dbphi(repf);
+w=find(db<=db(1)-3);
+wc=w(1);
+frqc=frq(wc)*2*%pi;
+
+plot2d3(frqc,db(wc),5)
+
+[r c]=size(frq(1:w(1)));
+magn=db(wc)*ones(r,c)
+plot(frq(1:w(1))*2*%pi,magn,"b--")
+temp_db=db(w);
+[r c]=size(db(w));
+temp_w=frqc*ones(r,c);
+plot(temp_w,temp_db,"b--")
+xset("font size", 3);
+xstring(0.04,-16,"$\omega_{BW}$");
+xstring(frqc,-4,"-3db");
+xset("line style",4)
+xarrows([0.01;frqc],[-10;-10],-0.2,5)
+xarrows([frqc;0.01],[-10;-10],-0.2,5)
+//------------------------------------------------------------------
+//Step response of PD compnensation
+figure
+t=0:0.5:100;
+v=csim('step',t,gcl1);
+plot2d(t,v)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Step response for PD compensation','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('$\theta$','fontsize',2)
+//-------------------------------------------------------------------