--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mpc/gpc_Nc.py Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,50 @@
+#!/usr/bin/env python
+# 12.2
+
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import pylab as pl
+from xdync import xdync
+from polyfuncs import polmul, poladd
+
+def gpc_Nc(A, dA, B, dB, C, dC, k, N1, N2, Nu, rho):
+ D, dD = pl.array([1, -1]), 1
+ AD, dAD = pl.convolve(A, D), dA+1
+ zj, dzj = 1, 0
+ for i in range(N1+k-1):
+ zj = sp.convolve(zj, [0,1])
+ dzj += 1
+ M = 2*k+N2-2+dB
+ P = max(k+N2+dA-1, dC-1)
+ G = pl.zeros((N2-N1+1, Nu+1))
+ H1 = pl.zeros((N2-N1+1, M))
+ H2 = pl.zeros((N2-N1+1, P+1))
+
+ for j in range(k+N1, k+N2+1):
+ zj = pl.convolve(zj, [0,1])
+ dzj = dzj + 1
+ Fj, dFj, Ej, dEj = xdync(zj, dzj, AD, dAD, C, dC)[:4]
+ Nj, dNj, Mj, dMj = xdync(zj, dzj, C, dC, 1, 0)[:4]
+ Gj, dGj = polmul(Mj, dMj, Ej, dEj)
+ Gj, dGj = polmul(Gj, dGj, B, dB)
+ Pj, dPj = polmul(Mj, dMj, Fj, dFj)
+ Pj, dPj = poladd(Nj, dNj, Pj, dPj)
+ if j-k >= Nu:
+ G[j-(k+N1),:Nu+1] = Gj[range(j-k, j-k-Nu-1, -1)]
+ else:
+ G[j-(k+N1),:j-k+1] = Gj[j-k::-1]
+ H1[j-(k+N1),:j+k-2+dB] = Gj[j-k+1:2*j+dB-1]
+ dPj = max(j-1+dA, dC-1)
+ H2[j-(k+N1),:dPj+1] = Pj
+ K = pl.dot(pl.inv(pl.dot(G.T, G) + rho*pl.eye(Nu+1, Nu+1)), G.T)
+ KH1 = pl.dot(K, H1)
+ KH2 = pl.dot(K, H2)
+ R1 = pl.concatenate(([1], KH1[0,:]))
+ dR1 = len(R1)-1
+ Sc = KH2[0,:]
+ dSc = len(Sc)-1;
+ Tc = K[0,:]
+ dTc = len(Tc)-1;
+
+ return K, KH1, KH2, Tc, dTc, Sc, dSc, R1, dR1