1 #!/usr/bin/python

     2 # 9.10  

     3 

     4 import os, sys

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

     6 

     7 import scipy as sp

     8 from zpowk import zpowk

     9 from desired import desired

    10 from pp_im import pp_im

    11 

    12 # Control of IBM lotus domino server

    13 # Transfer function

    14 

    15 B = 0.47

    16 A = sp.array([1, -0.43])

    17 k = 1

    18 zk, dzk = zpowk(k)

    19  

    20 # Transient specifications

    21 rise = 10

    22 epsilon = 0.01

    23 Ts = 1

    24 phi = desired(Ts,rise,epsilon)

    25 

    26 # Controller design

    27 Delta = sp.array([1, -1])  # internal model of step used

    28 Rc, Sc, Tc, gamm = pp_im(B, A, k, phi, Delta)

    29 

    30 # Simulation parameters for stb_disc.cos

    31 st = 1 # desired change

    32 t_init = 0 # simulation start time

    33 t_final = 40 # simulation end time

    34 C = 0

    35 D = 1 

    36 N_var = 0