1 #!/usr/bin/env python

     2 # 9.17

     3 import os, sys

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

     5 

     6 import scipy as sp

     7 from pp_pid import pp_pid

     8 from pp_im import pp_im

     9 from zpowk import zpowk

    10 

    11 # test problem to demonstrate benefits of 2_dof

    12 

    13 Ts = 1

    14 k = 1

    15 B = sp.convolve([1, 0.9], [1, -0.8])

    16 A = sp.convolve([1, -1], [1, -0.5])

    17  

    18 # closed loop characteristic polynomial

    19 phi = [1, -1, 0.5]

    20 

    21 Delta = 1 # Choice of internal model of step

    22 control = 1

    23 if control == 1: #/ 1-DOF with no cancellation

    24    Rc, Sc = pp_pid(B, A, k, phi, Delta)

    25    Tc = Sc

    26    gamm = 1

    27 else: #2-DOF

    28    Rc, Sc, Tc, gamm = pp_im(B, A, k, phi, Delta)

    29 

    30 # simulation parameters for stb_disc

    31 zk, dzk = zpowk(k)

    32 st = 1 # desired step change

    33 t_init = 0 # simulation start time

    34 t_final = 20 # simulation end time

    35 xInitial = [0, 0]

    36 C = 0

    37 D = 1

    38 N_var = 0