1 #!/usr/bin/python

     2 # 7.6 

     3 import os, sys

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

     5 

     6 # Continuous time antenna model

     7 

     8 import pylab as pl

     9 from scipy import signal

    10 from dscr import dscr

    11 

    12 a = 0.1

    13 F = pl.array([[0, 1],[0, -a]])

    14 g = pl.array([[0],[a]])

    15 c = pl.array([1, 0])

    16 d = 0

    17 Ga = signal.lti(F,g,c,d)

    18 num,den = Ga.num, Ga.den

    19 Ts = 0.2

    20 G = dscr(Ga,Ts)

    21 

    22 #lead controller

    23 beta1 = 0.8

    24 N = pl.array([1, -0.9802])*(1-beta1)/(1-0.9802)

    25 Rc = pl.array([1, -beta1])

    26 

    27 # // simulation parameters using g_s_cl2.cos

    28 # gamm = 1; Sc = 1; Tc = 1; C = 0; D = 1;

    29 # st = 1; st1 = 0;

    30 # t_init = 0; t_final = 20;

    31 

    32 # // u1: -4 to 11

    33 # // y1: 0 to 1.4

    34 

    35 # [Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1

    36 # [Np,Rcp] = cosfil_ip(N,Rc); // N/Rc

    37 # [Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1

    38 # [Cp,Dp] = cosfil_ip(C,D); // C/D