1 #!/usr/bin/python 

     2 # 9.7

     3 import os, sys

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

     5 

     6 import scipy as sp

     7 from scipy import signal

     8 from zpowk import zpowk

     9 from pp_basic import pp_basic

    10 from desired import desired

    11 

    12 Ts = 1

    13 B = sp.array([1, -3])

    14 A = sp.array([1, 2, -8])

    15 k = 1

    16 

    17 # Since k=1, tf is of the form z^-1

    18 zk, dzk = zpowk(k) 

    19 

    20 

    21 # Transient specifications

    22 rise = 10

    23 epsilon = 0.1

    24 phi = desired(Ts, rise, epsilon)

    25 

    26 # Controller design

    27 Rc, Sc, Tc, gamm = pp_basic(B, A, k, phi)

    28 

    29 # Setting up simulation parameters for basic

    30 st = 1.0 # desired change in h, in m.

    31 t_init = 0  # simulation start time

    32 t_final = 1000 # simulation end time

    33 

    34 # Setting up simulation parameters for c_ss_cl

    35 N_var = 0

    36 N = 1

    37 C = 0 

    38 D = 1

    39