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#!/usr/bin/python
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# 7.6
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import os, sys
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sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
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# Continuous time antenna model
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import pylab as pl
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from scipy import signal
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from dscr import dscr
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a = 0.1
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F = pl.array([[0, 1],[0, -a]])
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g = pl.array([[0],[a]])
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c = pl.array([1, 0])
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d = 0
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Ga = signal.lti(F,g,c,d)
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num,den = Ga.num, Ga.den
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Ts = 0.2
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G = dscr(Ga,Ts)
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#lead controller
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beta1 = 0.8
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N = pl.array([1, -0.9802])*(1-beta1)/(1-0.9802)
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Rc = pl.array([1, -beta1])
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# // simulation parameters using g_s_cl2.cos
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# gamm = 1; Sc = 1; Tc = 1; C = 0; D = 1;
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# st = 1; st1 = 0;
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# t_init = 0; t_final = 20;
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# // u1: -4 to 11
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# // y1: 0 to 1.4
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# [Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
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# [Np,Rcp] = cosfil_ip(N,Rc); // N/Rc
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# [Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
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# [Cp,Dp] = cosfil_ip(C,D); // C/D
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