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+//Example 7.22
+// SRL design for satellite attitude control
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Transfer function for satellite attitude control system
+s=poly(0,'s');
+nums=1;
+dens=s^2;
+num_s=1;
+den_s=(-s)^2;
+G0s=syslin('c',nums/dens); //G0(s)
+G0_s=syslin('c',num_s/den_s); //G0(-s)
+//evans(G0s*G0_s)
+evans(1/s^4)
+zoom_rect([-3 -3 3 3])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Symmetric root locus for the satellite','fontsize',3);
+//------------------------------------------------------------------
+//Root locus design
+//choose rho=4.07 that places pole at -1+-j
+rho=4.07;
+chr_eqn=(1+rho*G0s*G0_s)
+p=[-1+%i, -1-%i];
+sig=real(p);
+omega=imag(p);
+plot(sig,omega,'ro')
+xstring(-2.2,0.5,["pole locations at";"$\rho=4.07$"])
+//------------------------------------------------------------------
+//pole-placement design;
+sys=tf2ss(G0s);
+exec('./acker_dk.sci', -1);
+K=acker_dk(sys.A,sys.B,p);
+syscl=syslin('c',(sys.A-sys.B*K),sys.B, sys.C, sys.D)
+disp(spec(syscl.A),"Closed loop eigen values");
+//------------------------------------------------------------------