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#!/usr/bin/python
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# 9.7
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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 scipy import signal
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from zpowk import zpowk
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from pp_basic import pp_basic
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from desired import desired
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Ts = 1
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B = sp.array([1, -3])
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A = sp.array([1, 2, -8])
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k = 1
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# Since k=1, tf is of the form z^-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 = 0.1
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phi = desired(Ts, rise, epsilon)
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# Controller design
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Rc, Sc, Tc, gamm = pp_basic(B, A, k, phi)
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# Setting up simulation parameters for basic
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st = 1.0 # desired change in h, in m.
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t_init = 0 # simulation start time
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t_final = 1000 # simulation end time
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# Setting up simulation parameters for c_ss_cl
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N_var = 0
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N = 1
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C = 0
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D = 1
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