--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/python/pp_im2.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,38 @@
+#!/usr/bin/python
+# 9.8
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import scipy as sp
+from polyfuncs import polmul
+from polyfuncs import polsplit3
+from zpowk import zpowk
+from xdync import xdync
+
+def pp_im2(B, A, k, phi, Delta, a=1):
+    Delta = sp.atleast_1d(Delta)
+    # Setting up and solving Aryabhatta identity
+    Ag, Ab = polsplit3(A, a)
+    dAb = len(Ab) - 1
+    Bg, Bb = polsplit3(B, a)
+    dBb = len(Bb) - 1
+    
+    zk, dzk = zpowk(k)
+    
+    N, dN = polmul(Bb, dBb, zk, dzk)
+    dDelta = len(Delta)-1
+    D, dD = polmul(Ab, dAb, Delta, dDelta)
+    dphi = len(phi)-1
+    
+    S1, dS1, R1, dR1 = xdync(N, dN, D, dD, phi, dphi)[:4]
+
+    # Determination of control law
+    R1 = sp.squeeze(R1)
+    S1 = sp.squeeze(S1)
+    Rc = sp.convolve(Bg, sp.convolve(R1, Delta))
+    Sc = sp.convolve(Ag, S1)
+    Tc = Ag
+    gamm = phi.sum()/Bb.sum()
+    # Total characteristic polynomial
+    phit = sp.convolve(phi, sp.convolve(Ag, Bg)
+    return Rc, Sc, Tc, gamm, phit