--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/imc/vande_imc.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,29 @@
+#!/usr/bin/python
+# 10.10
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import scipy as sp
+from scipy import signal
+from imc_stable import imc_stable
+from zpowk import zpowk
+from myc2d import myc2d
+
+num = sp.array([-1.117, 3.1472])
+den = sp.array([1, 4.6429, 5.3821])
+G = signal.lti(num, den)
+
+Ts = 0.1
+B, A, k = myc2d(G, Ts)
+
+alpha = 0.5
+print B, A, k, alpha
+k, HiN, HiD, R, S = imc_stable(B, A, k, alpha)
+print "k =", k
+print "HiN =", HiN
+print "HiD =", HiD
+print "R =", R
+print "S =", S
+
+zk, dzk = zpowk(k)
+Bp, Ap = B, A