1 #!/usr/bin/env python

     2 # 11.15

     3 # GMVC PID tuning of example given by Miller et al.

     4 

     5 import os, sys

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

     7 

     8 import pylab as pl

     9 from ch_pol import ch_pol

    10 from gmvc_pid import gmvc_pid 

    11 

    12 # Model

    13 A = pl.array([1, -1.95, 0.935])

    14 B = -0.015 

    15 k = 1

    16 Ts = 1

    17 

    18 # Transient specifications

    19 N = 15

    20 epsilon = 0.1

    21 T = ch_pol(N, epsilon)[:1]

    22 

    23 # Controller Design

    24 Kc, tau_i, tau_d, L = gmvc_pid(A, B, k, T, Ts)

    25 

    26 # L1 = filtval(L,1);

    27 # zk = zpowk(k);