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#!/usr/bin/env python
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# 11.15
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# GMVC PID tuning of example given by Miller et al.
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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 ch_pol import ch_pol
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from gmvc_pid import gmvc_pid
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# Model
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A = pl.array([1, -1.95, 0.935])
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B = -0.015
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k = 1
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Ts = 1
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# Transient specifications
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N = 15
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epsilon = 0.1
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T = ch_pol(N, epsilon)[:1]
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# Controller Design
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Kc, tau_i, tau_d, L = gmvc_pid(A, B, k, T, Ts)
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# L1 = filtval(L,1);
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# zk = zpowk(k);
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