1 #!/usr/bin/python

     2 # 10.7

     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_stable1 import imc_stable1

     9 from zpowk import zpowk

    10 from myc2d import myc2d

    11 

    12 num = sp.array([1])

    13 den = sp.array([250, 35, 1])

    14 G = signal.lti(num, den)

    15 

    16 Ts = 3

    17 B, A, k = myc2d(G, Ts)

    18 

    19 alpha = 0.9

    20 k, GiN, GiD = imc_stable1(B, A, k, alpha)

    21 print k, GiN, GiD

    22 

    23 zk, dzk = zpowk(k)

    24 Bp, Ap = B, A

    25 

    26 t0 = 0

    27 tf = 10

    28 st = 1

    29 Nvar = 0