--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mpc/gpc_col.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,46 @@
+#!/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_col(A, dA, B, dB, C, dC, N, k, rho):
+    D, dD = pl.array([1, -1]), 1
+    AD, dAD = pl.convolve(A, D), dA+1
+    Nu = N+1
+    zj, dzj = 1, 0
+    G = pl.zeros((Nu, 1))
+    H1 = pl.zeros((Nu, 2*k+N-2+dB))
+    H2 = pl.zeros((Nu, k+N+dA))
+
+    for j in range(Nu):
+        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)
+
+        m, n = G.shape
+        G = pl.column_stack((G, pl.zeros((m, j+1-n))))
+        G[j, :j+1] = Gj[j::-1]
+        H1[j,:dGj-j] = Gj[j+1:dGj+1]
+        H2[j,:dPj+1] = Pj
+
+    K = pl.dot(pl.inv(pl.dot(G.T, G) + rho*pl.eye(Nu,Nu)), 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