#!/usr/bin/python

# 10.7

import os, sys

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

import scipy as sp

from scipy import signal

from imc_stable1 import imc_stable1

from zpowk import zpowk

from myc2d import myc2d

num = sp.array([-1.117, 3.1472])

den = sp.array([1, 4.6429, 5.3821])

G = signal.lti(num, den)

Ts = 0.1

B, A, k = myc2d(G, Ts)

alpha = 0.9

k, GiN, GiD = imc_stable1(B, A, k, alpha)

print "k =", k

print "GiN =", GiN

print "GiD =", GiD

zk, dzk = zpowk(k)

Bp, Ap = B, A

t0 = 0

tf = 10

st = 1

Nvar = 0