diff -r 000000000000 -r 0efde00f9229 pid/miller.py
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid/miller.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+# 11.15
+# GMVC PID tuning of example given by Miller et al.
+
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import pylab as pl
+from ch_pol import ch_pol
+from gmvc_pid import gmvc_pid 
+
+# Model
+A = pl.array([1, -1.95, 0.935])
+B = -0.015 
+k = 1
+Ts = 1
+
+# Transient specifications
+N = 15
+epsilon = 0.1
+T = ch_pol(N, epsilon)[:1]
+
+# Controller Design
+Kc, tau_i, tau_d, L = gmvc_pid(A, B, k, T, Ts)
+
+# L1 = filtval(L,1);
+# zk = zpowk(k);