#!/usr/bin/python

# 10.2

import os, sys

sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]

import scipy as sp

from zpowk import zpowk

from pp_im import pp_im

from polyfuncs import poladd

Ts = 1

B = 0.63

A = sp.array([1, -0.37])

k = 3

Bd = sp.convolve(B, [0,1])

kd = k - 1

zkd, dzkd = zpowk(kd)

mzkd, dmzkd = poladd(1, 0, -zkd, dzkd)

phi = sp.array([1, -0.5])

delta = 1

Rc, Sc, Tc, gamm = pp_im(B, A, k, phi, delta)

print "Rc =", Rc

print "Sc =", Sc

print "Tc =", Tc

print "gamm =", gamm

#// simulation parameters for stb_disc.cos 

#// y1: 0 to 1; u1: 0 to 1.2

st = 1.0 #// desired change in setpoint

t_init = 0 #// simulation start time

t_final = 20 # // simulation end time

#// simulation parameters for stb_disc_10.1.cos

N_var = 0

C = 0

D = 1

N = 1