1 #!/usr/bin/env python

     2 # 12.2

     3 

     4 import os, sys

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

     6 

     7 import pylab as pl

     8 from xdync import xdync

     9 from polyfuncs import polmul, poladd

    10 

    11 def gpc_Nc(A, dA, B, dB, C, dC, k, N1, N2, Nu, rho):

    12     D, dD = pl.array([1, -1]), 1

    13     AD, dAD = pl.convolve(A, D), dA+1

    14     zj, dzj = 1, 0

    15     for i in range(N1+k-1):

    16         zj = sp.convolve(zj, [0,1])

    17         dzj += 1

    18     M = 2*k+N2-2+dB

    19     P = max(k+N2+dA-1, dC-1)

    20     G = pl.zeros((N2-N1+1, Nu+1))

    21     H1 = pl.zeros((N2-N1+1, M))

    22     H2 = pl.zeros((N2-N1+1, P+1))

    23 

    24     for j in range(k+N1, k+N2+1):

    25         zj = pl.convolve(zj, [0,1])

    26         dzj = dzj + 1

    27         Fj, dFj, Ej, dEj = xdync(zj, dzj, AD, dAD, C, dC)[:4]

    28         Nj, dNj, Mj, dMj = xdync(zj, dzj, C, dC, 1, 0)[:4]

    29         Gj, dGj = polmul(Mj, dMj, Ej, dEj)

    30         Gj, dGj = polmul(Gj, dGj, B, dB)

    31         Pj, dPj = polmul(Mj, dMj, Fj, dFj)

    32         Pj, dPj = poladd(Nj, dNj, Pj, dPj)

    33         if j-k >= Nu:

    34             G[j-(k+N1),:Nu+1] = Gj[range(j-k, j-k-Nu-1, -1)]

    35         else:

    36             G[j-(k+N1),:j-k+1] = Gj[j-k::-1]

    37         H1[j-(k+N1),:j+k-2+dB] = Gj[j-k+1:2*j+dB-1]

    38         dPj = max(j-1+dA, dC-1)

    39         H2[j-(k+N1),:dPj+1] = Pj

    40     K = pl.dot(pl.inv(pl.dot(G.T, G) + rho*pl.eye(Nu+1, Nu+1)), G.T)

    41     KH1 = pl.dot(K, H1)

    42     KH2 = pl.dot(K, H2)

    43     R1 = pl.concatenate(([1], KH1[0,:]))

    44     dR1 = len(R1)-1

    45     Sc = KH2[0,:]

    46     dSc = len(Sc)-1;

    47     Tc = K[0,:]

    48     dTc = len(Tc)-1;

    49         

    50     return K, KH1, KH2, Tc, dTc, Sc, dSc, R1, dR1