#!/usr/bin/env python

# 9.17

import os, sys

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

import scipy as sp

from pp_pid import pp_pid

from pp_im import pp_im

from zpowk import zpowk

# test problem to demonstrate benefits of 2_dof

Ts = 1

k = 1

B = sp.convolve([1, 0.9], [1, -0.8])

A = sp.convolve([1, -1], [1, -0.5])

# closed loop characteristic polynomial

phi = [1, -1, 0.5]

Delta = 1 # Choice of internal model of step

control = 1

if control == 1: #/ 1-DOF with no cancellation

   Rc, Sc = pp_pid(B, A, k, phi, Delta)

   Tc = Sc

   gamm = 1

else: #2-DOF

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

# simulation parameters for stb_disc

zk, dzk = zpowk(k)

st = 1 # desired step change

t_init = 0 # simulation start time

t_final = 20 # simulation end time

xInitial = [0, 0]

C = 0

D = 1

N_var = 0