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 polsplit3

     9 from zpowk import zpowk

    10 from xdync import xdync

    11 

    12 def pp_im2(B, A, k, phi, Delta, a=1):

    13     Delta = sp.atleast_1d(Delta)

    14     # Setting up and solving Aryabhatta identity

    15     Ag, Ab = polsplit3(A, a)

    16     dAb = len(Ab) - 1

    17     Bg, Bb = polsplit3(B, a)

    18     dBb = len(Bb) - 1

    19     

    20     zk, dzk = zpowk(k)

    21     

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

    23     dDelta = len(Delta)-1

    24     D, dD = polmul(Ab, dAb, Delta, dDelta)

    25     dphi = len(phi)-1

    26     

    27     S1, dS1, R1, dR1 = xdync(N, dN, D, dD, phi, dphi)[:4]

    28 

    29     # Determination of control law

    30     R1 = sp.squeeze(R1)

    31     S1 = sp.squeeze(S1)

    32     Rc = sp.convolve(Bg, sp.convolve(R1, Delta))

    33     Sc = sp.convolve(Ag, S1)

    34     Tc = Ag

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

    36     # Total characteristic polynomial

    37     phit = sp.convolve(phi, sp.convolve(Ag, Bg)

    38     return Rc, Sc, Tc, gamm, phit