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_col(A, dA, B, dB, C, dC, N, k, rho):

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

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

    14     Nu = N+1

    15     zj, dzj = 1, 0

    16     G = pl.zeros((Nu, 1))

    17     H1 = pl.zeros((Nu, 2*k+N-2+dB))

    18     H2 = pl.zeros((Nu, k+N+dA))

    19 

    20     for j in range(Nu):

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

    22         dzj = dzj + 1

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

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

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

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

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

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

    29 

    30         m, n = G.shape

    31         G = pl.column_stack((G, pl.zeros((m, j+1-n))))

    32         G[j, :j+1] = Gj[j::-1]

    33         H1[j,:dGj-j] = Gj[j+1:dGj+1]

    34         H2[j,:dPj+1] = Pj

    35 

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

    37     KH1 = pl.dot(K, H1)

    38     KH2 = pl.dot(K, H2)

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

    40     dR1 = len(R1)-1

    41     Sc = KH2[0,:]

    42     dSc = len(Sc)-1;

    43     Tc = K[0,:]

    44     dTc = len(Tc)-1;

    45         

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