--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lqg/lqg_simple.py Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,34 @@
+#!/usr/bin/python
+# 13.4
+
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import scipy as sp
+from polyfuncs import polmul, putin, ext
+from xdync import xdync
+from zpowk import zpowk
+from specfac import specfac
+
+def lqg_simple(A,dA,B,dB,C,dC,k,rho,V,dV,W,dW,F,dF):
+ """ LQG controller design by method of Ahlen and Sternad. """
+ r, b, db = specfac(A,dA,B,dB,rho,V,dV,W,dW,F,dF)
+ D, dD = polmul(A, dA, F, dF)
+ zk, dzk = zpowk(k)
+ N, dN = polmul(zk, dzk, B, dB)
+ RHS, dRHS = polmul(C, dC, b, db)
+ S, dS, R1, dR1 = xdync(N, dN, D, dD, RHS, dRHS)[:4]
+ return R1, dR1, S, dS
+
+if __name__ == "__main__":
+ A, dA = sp.array([1, -0.44]), 1
+ B, dB = sp.array([0.51, 1.21]), 1
+ F, dF = sp.array([1, -1]), 1
+ C, dC = sp.array([1, -0.44]),1
+ k = 1
+ V, W = 1, 1
+ dV, dW = 0, 0
+ rho = 1
+ int1 = 1
+
+ print lqg_simple(A,dA,B,dB,C,dC,k,rho,V,dV,W,dW,F,dF)