function [numopen, denopen,denclsd]=picomp(num,den,s1)

% Hadi Saadat,  1998

discr=[
'                                                                      '
'  The function picomp(num, den, s1) is used for the design of a PI    '
'  controller.  num & den are row vectors of polynomial coefficients   '
'  of the uncompensated open-loop plant transfer function and s1=