1 #!/usr/bin/python

     2 # 10.4

     3 

     4 import scipy as sp

     5 from imcsplit import imcsplit

     6 

     7 def imc_stable1(B, A, k, alpha):

     8     """ Designs Discrete Internal Model Controller

     9     for transfer function z^{-k}B(z^{-1})/A(z^{-1})

    10     Numerator and Denominator of IMC HQ are outputs

    11     Controller is also given in R,S form. """

    12     Kp, d, Bg, Bnmp, Bm = imcsplit(B, 1)

    13     Bg = Kp * Bg

    14     Bnmpr = Bnmp[::]

    15     Bms = sum(Bm)

    16     HiN = A

    17     HiD = Bms * sp.convolve(Bg, Bnmpr)

    18     k = k+d

    19     return k, HiN, HiD