0
|
1 |
#!/usr/bin/python
|
|
2 |
# 10.10
|
|
3 |
import os, sys
|
|
4 |
sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
|
|
5 |
|
|
6 |
import scipy as sp
|
|
7 |
from scipy import signal
|
|
8 |
from imc_stable import imc_stable
|
|
9 |
from zpowk import zpowk
|
|
10 |
from myc2d import myc2d
|
|
11 |
|
|
12 |
num = sp.array([-1.117, 3.1472])
|
|
13 |
den = sp.array([1, 4.6429, 5.3821])
|
|
14 |
G = signal.lti(num, den)
|
|
15 |
|
|
16 |
Ts = 0.1
|
|
17 |
B, A, k = myc2d(G, Ts)
|
|
18 |
|
|
19 |
alpha = 0.5
|
|
20 |
print B, A, k, alpha
|
|
21 |
k, HiN, HiD, R, S = imc_stable(B, A, k, alpha)
|
|
22 |
print "k =", k
|
|
23 |
print "HiN =", HiN
|
|
24 |
print "HiD =", HiD
|
|
25 |
print "R =", R
|
|
26 |
print "S =", S
|
|
27 |
|
|
28 |
zk, dzk = zpowk(k)
|
|
29 |
Bp, Ap = B, A
|