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+//Example 7.28
+// Full order compensator design for satellite attitude control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+A=[0 1; 0 0];
+B=[0 1]';
+C=[1 0];
+D=0;
+n=sqrt(length(A));
+//Desired poles for the satellite attitude control system.
+Pc=[-0.707+0.707*%i -0.707-0.707*%i ]
+
+// State feedback gain
+K=ppol(A,B,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-2.5+4.3*%i -2.5-4.3*%i]
+L=ppol(A',C',Pe);
+L=L';
+disp(L,'L=',"Observer gain")
+//------------------------------------------------------------------
+//Compensator Design
+sys1=syslin('c',A,B,C,D);
+G=ss2tf(sys1);
+s=poly(0,'s');
+
+Ds=-K*inv(s*eye(n,n)-A+B*K+L*C)*L;
+
+exec('./zpk_dk.sci', -1);
+[pl,zr Kp]=zpk_dk(Ds);
+D=poly(zr,'s','roots')/poly(pl,'s','roots')
+
+evans(G*D)
+zoom_rect([-8 -6 8 6])
+
+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('Root locus for combined control and estimator,...
+ with process gain as the parameter','fontsize',3);
+//------------------------------------------------------------------
+//Frequnecy response for 1/s^2 and compensated
+
+figure,
+bode([-Ds*G;G],0.01/2/%pi,100/2/%pi,"rad");
+title(["Frequency response for","$G(s)=1/s^2$"],'fontsize',3)
+legend('Compensated','Uncompensated')
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------