1 #!/usr/bin/python

     2 # 11.6

     3 

     4 from zpowk import zpowk

     5 from polyfuncs import polmul, poladd

     6 from tfvar import tfvar

     7 

     8 def cl(A,dA,B,dB,C,dC,k,S,dS,R,dR,int1):

     9     """

    10     int>=1 means integrated noise and control law:

    11     delta u = - (S/R)y

    12     Evaluates the closed loop transfer function and 

    13     variances of input and output

    14     """

    15     

    16     zk, dzk = zpowk(k)

    17     BS, dBS = polmul(B,dB,S,dS)

    18     zBS, dzBS = polmul(zk,dzk,BS,dBS)

    19     RA, dRA = polmul(R,dR,A,dA)

    20     

    21     if int1>=1:

    22         RA, dRA = polmul(RA, dRA, [1, -1], 1)

    23     D, dD = poladd(RA, dRA, zBS, dzBS)

    24     D = D.squeeze()

    25     Ny, dNy = polmul(C,dC,R,dR)

    26     Nu, dNu = polmul(C,dC,S,dS)

    27 

    28     

    29     Nu, dNu, Du, dDu, uvar = tfvar(Nu, dNu, D, dD)

    30     Ny, dNy, Dy, dDy, yvar = tfvar(Ny, dNy, D, dD)

    31 

    32     return Nu, dNu, Du, dDu, Ny, dNy, Dy, dDy, yvar, uvar