#!/usr/bin/python 

# 9.7

import os, sys

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

import scipy as sp

from scipy import signal

from zpowk import zpowk

from pp_basic import pp_basic

from desired import desired

Ts = 1

B = sp.array([1, -3])

A = sp.array([1, 2, -8])

k = 1

# Since k=1, tf is of the form z^-1

zk, dzk = zpowk(k) 

# Transient specifications

rise = 10

epsilon = 0.1

phi = desired(Ts, rise, epsilon)

# Controller design

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

# Setting up simulation parameters for basic

st = 1.0 # desired change in h, in m.

t_init = 0  # simulation start time

t_final = 1000 # simulation end time

# Setting up simulation parameters for c_ss_cl

N_var = 0

N = 1

C = 0 

D = 1