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#!/usr/bin/python
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# Both Rc and Sc have to be degree one polynomials
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def pd(Rc,Sc,Ts):
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K = (Sc[0]+Sc[1])/(1+Rc[1])
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N = (Sc[1]-Sc[0]*Rc[1])/Rc[1]/(Sc[0]+Sc[1])
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taudbyN = -Ts*Rc[1]/(1+Rc[1])
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taud = taudbyN * N
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return K, taud, N