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#!/usr/bin/env python
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# 12.2
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import os, sys
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sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
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import pylab as pl
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from xdync import xdync
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from polyfuncs import polmul, poladd
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def gpc_col(A, dA, B, dB, C, dC, N, k, rho):
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D, dD = pl.array([1, -1]), 1
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AD, dAD = pl.convolve(A, D), dA+1
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Nu = N+1
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zj, dzj = 1, 0
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G = pl.zeros((Nu, 1))
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H1 = pl.zeros((Nu, 2*k+N-2+dB))
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H2 = pl.zeros((Nu, k+N+dA))
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for j in range(Nu):
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zj = pl.convolve(zj, [0,1])
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dzj = dzj + 1
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Fj, dFj, Ej, dEj = xdync(zj, dzj, AD, dAD, C, dC)[:4]
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Nj, dNj, Mj, dMj = xdync(zj, dzj, C, dC, 1, 0)[:4]
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Gj, dGj = polmul(Mj, dMj, Ej, dEj)
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Gj, dGj = polmul(Gj, dGj, B, dB)
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Pj, dPj = polmul(Mj, dMj, Fj, dFj)
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Pj, dPj = poladd(Nj, dNj, Pj, dPj)
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m, n = G.shape
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G = pl.column_stack((G, pl.zeros((m, j+1-n))))
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G[j, :j+1] = Gj[j::-1]
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H1[j,:dGj-j] = Gj[j+1:dGj+1]
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H2[j,:dPj+1] = Pj
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K = pl.dot(pl.inv(pl.dot(G.T, G) + rho*pl.eye(Nu,Nu)), G.T)
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KH1 = pl.dot(K, H1)
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KH2 = pl.dot(K, H2)
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R1 = pl.concatenate(([1], KH1[0,:]))
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dR1 = len(R1)-1
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Sc = KH2[0,:]
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dSc = len(Sc)-1;
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Tc = K[0,:]
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dTc = len(Tc)-1;
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return K, KH1, KH2, Tc, dTc, Sc, dSc, R1, dR1
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