1 #!/usr/bin/python

     2 # 9.11

     3 

     4 import os, sys

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

     6 

     7 import scipy as sp

     8 from scipy import signal

     9 from myc2d import myc2d

    10 

    11 # Motor control problem

    12 # Transfer function

    13 

    14 a1 = sp.array([[-1, 0], [1, 0]]) 

    15 b1 = sp.array([[1],[0]]) 

    16 c1 = sp.array([0, 1])

    17 d1 = 0

    18 G = signal.lti(a1, b1, c1, d1)

    19 Ts = 0.25

    20 B, A, k = myc2d(G,Ts)

    21 

    22 # Transient specifications

    23 rise = 3

    24 epsilon = 0.05

    25 phi = desired(Ts,rise,epsilon)

    26 

    27 # Controller design

    28 Delta = 1 # No internal model of step used

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

    30 

    31 # simulation parameters

    32 st = 1 # desired change in position

    33 t_init = 0 # simulation start time

    34 t_final = 10 # simulation end time

    35 

    36 xInitial = [0, 0] # initial conditions

    37 N = 1

    38 C = 0

    39 D = 1

    40 N_var = 0