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+//Example 6.7
+//Computation of velocity error constant Kv from Bode plot
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=10;
+s=poly(0,'s');
+Gs=syslin('c',(K)/(s*(s+1)));
+//The bode plot of the system
+
+fmin=0.01/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=10/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax); 
+//OR 
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(Gs,fmin,fmax,0.01,"rad")
+title(['Determination of Kv from the Bode plot for the system',...
+'$10/[s(s+1)]$'],'fontsize',3)
+//choose frequency (rad) and magnitude from bode plot and calculate Kv
+//Here at w=0.01, magngitude in db is M=60 
+//i.e actual magnitude of the reponse is |A|=10^(M/20)
+w=0.01;      // in rad
+M=60         // in db
+A=10^(M/20)  //actual gain
+
+//Velocity error constant Kv=w*|A(w)|
+Kv=w*A;
+disp(Kv,"The Velocity error Constant from bode plot is: ")
+//------------------------------------------------------------------
+// Computation of the Kv
+[frq repf]=repfreq(Gs,fmin,fmax);
+//frq in Hz, repf is freq. response in rectangular form.  
+//From bode plot, Kv=w*|A(w)|
+//i.e Kv=2*pi*f*|A(2*pi*f)|
+
+idx=1;//selecting the frequency and response at that frequency from arrays
+Kv=2*%pi*frq(idx)*abs(repf(idx))
+disp(Kv,"The Velocity error Constant is computed at 0.0015915 Hz (0.01 rad/sec) : ")
+//------------------------------------------------------------------