--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/imc/imc_stable1.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,19 @@
+#!/usr/bin/python
+# 10.4
+
+import scipy as sp
+from imcsplit import imcsplit
+
+def imc_stable1(B, A, k, alpha):
+    """ Designs Discrete Internal Model Controller
+    for transfer function z^{-k}B(z^{-1})/A(z^{-1})
+    Numerator and Denominator of IMC HQ are outputs
+    Controller is also given in R,S form. """
+    Kp, d, Bg, Bnmp, Bm = imcsplit(B, 1)
+    Bg = Kp * Bg
+    Bnmpr = Bnmp[::]
+    Bms = sum(Bm)
+    HiN = A
+    HiD = Bms * sp.convolve(Bg, Bnmpr)
+    k = k+d
+    return k, HiN, HiD