1 #!/usr/bin/python

     2 # 14.2

     3 import os, sys

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

     5 

     6 import scipy as sp

     7 from scipy import linalg

     8 from pend import cont_mat, delta_a, acker

     9 from polyfuncs import polmul

    10 

    11 A = sp.array([[1, 2], [0, 3]])

    12 c = sp.array([1, 0])

    13 p = sp.roots([1, -0.5, 0.5])

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

    15 K = acker(A, b, p) 

    16 

    17 p1 = 0.1 + 0.1j

    18 p2 = 0.1 - 0.1j

    19 phi = sp.real(sp.convolve([1, -p1], [1, -p2]))

    20 Obs = sp.vstack((c, sp.dot(c, A)))

    21 alphae = sp.dot(A, A)-0.2*A+0.02*sp.eye(2,2)

    22 Lp = sp.dot(alphae, sp.dot(linalg.inv(Obs), sp.array([[0],[1]])))

    23 

    24 C = sp.array([[1, 0, 0.5, 2], [0, 1, -4.71, 2.8]])

    25 dC = 1

    26 

    27 [HD,dHD] = polmul(K,0,C,dC)

    28 [HD,dHD] = polmul(HD,dHD,Lp,0)

    29 

    30 print HD, dHD