Procedure to calculate 2DOF parameters using scilab

The procedure explained here is applicable to both virtual as well as local experiments. The following steps must be executed properly to calculate the controller parameters.

1. Change the directory to 2dof_controller.
2. Execute the command getd dc/scilab in the scilab console.
3. Open the Scilab code twodof_para.sce. Define the variable TFcont with first order transfer function (or second order transfer function) of your SBHS. Execute the Scilab code. With this, the 2-DOF controller parameters have been calculated. Figure 6.6 shows the calculated 2-DOF controller parameters on the Scilab console.
4. Open the Scilab code twodof.sci. Make sure that the first order control law (or second order control law in case of second order plant transfer function) is uncommented and the second order control law (or first order control law in case of second order transfer function) is commented.