#!/usr/bin/python

# 9.11

import os, sys

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

import scipy as sp

from scipy import signal

from myc2d import myc2d

# Motor control problem

# Transfer function

a1 = sp.array([[-1, 0], [1, 0]]) 

b1 = sp.array([[1],[0]]) 

c1 = sp.array([0, 1])

d1 = 0

G = signal.lti(a1, b1, c1, d1)

Ts = 0.25

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

# Transient specifications

rise = 3

epsilon = 0.05

phi = desired(Ts,rise,epsilon)

# Controller design

Delta = 1 # No internal model of step used

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

# simulation parameters

st = 1 # desired change in position

t_init = 0 # simulation start time

t_final = 10 # simulation end time

xInitial = [0, 0] # initial conditions

N = 1

C = 0

D = 1

N_var = 0