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