1 #!/usr/bin/python

     2 # 9.8

     3 import os, sys

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

     5 

     6 import scipy as sp

     7 from polyfuncs import polmul

     8 from polyfuncs import polsplit2

     9 from zpowk import zpowk

    10 from xdync import xdync

    11 

    12 def pp_basic(B, A, k, phi):

    13     # Setting up and solving Aryabhatta identity

    14     Ag, Ab = polsplit2(A)

    15     dAb = len(Ab) - 1

    16     Bg, Bb = polsplit2(B)

    17     dBb = len(Bb) - 1

    18     

    19     zk, dzk = zpowk(k)

    20     

    21     N, dN = polmul(Bb, dBb, zk, dzk)

    22     dphi = len(phi)-1

    23     

    24     S1, dS1, R1, dR1 = xdync(N, dN, Ab, dAb, phi, dphi)[:4]

    25 

    26     # Determination of control law

    27     R1 = sp.squeeze(R1)

    28     S1 = sp.squeeze(S1)

    29     Rc = sp.convolve(Bg, R1)

    30     Sc = sp.convolve(Ag, S1)

    31     Tc = Ag

    32     gamm = phi.sum()/Bb.sum()

    33     return Rc, Sc, Tc, gamm

    34 

    35 if __name__ == "__main__":

    36     Ts = 1

    37     B = 0.63

    38     A = sp.array([1, -0.37])

    39     k = 1

    40     if k<=0:

    41         k = 1

    42 

    43     zk, dzk = zpowk(k)

    44 

    45     phi = sp.array([1, -0.5])

    46 

    47     print pp_basic(B, A, k, phi)