1 #!/usr/bin/python

     2 # 10.2

     3 import os, sys

     4 sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]

     5 

     6 import scipy as sp

     7 from zpowk import zpowk

     8 from pp_im import pp_im

     9 from polyfuncs import poladd

    10 

    11 Ts = 1

    12 B = 0.63

    13 A = sp.array([1, -0.37])

    14 k = 3

    15 Bd = sp.convolve(B, [0,1])

    16 kd = k - 1

    17 

    18 zkd, dzkd = zpowk(kd)

    19 mzkd, dmzkd = poladd(1, 0, -zkd, dzkd)

    20 

    21 phi = sp.array([1, -0.5])

    22 delta = 1

    23 

    24 Rc, Sc, Tc, gamm = pp_im(B, A, k, phi, delta)

    25 print "Rc =", Rc

    26 print "Sc =", Sc

    27 print "Tc =", Tc

    28 print "gamm =", gamm

    29 

    30 

    31 #// simulation parameters for stb_disc.cos 

    32 #// y1: 0 to 1; u1: 0 to 1.2

    33 st = 1.0 #// desired change in setpoint

    34 t_init = 0 #// simulation start time

    35 t_final = 20 # // simulation end time

    36 

    37 #// simulation parameters for stb_disc_10.1.cos

    38 N_var = 0

    39 C = 0

    40 D = 1

    41 N = 1