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#!/usr/bin/python
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# 9.10
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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 scipy as sp
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from zpowk import zpowk
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from desired import desired
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from pp_im import pp_im
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# Control of IBM lotus domino server
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# Transfer function
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B = 0.47
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A = sp.array([1, -0.43])
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k = 1
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zk, dzk = zpowk(k)
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# Transient specifications
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rise = 10
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epsilon = 0.01
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Ts = 1
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phi = desired(Ts,rise,epsilon)
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# Controller design
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Delta = sp.array([1, -1]) # internal model of step used
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Rc, Sc, Tc, gamm = pp_im(B, A, k, phi, Delta)
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# Simulation parameters for stb_disc.cos
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st = 1 # desired change
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t_init = 0 # simulation start time
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t_final = 40 # simulation end time
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C = 0
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D = 1
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N_var = 0
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