--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ss/ex_comp.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,30 @@
+#!/usr/bin/python
+# 14.2
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import scipy as sp
+from scipy import linalg
+from pend import cont_mat, delta_a, acker
+from polyfuncs import polmul
+
+A = sp.array([[1, 2], [0, 3]])
+c = sp.array([1, 0])
+p = sp.roots([1, -0.5, 0.5])
+b = sp.array([[0], [1]])
+K = acker(A, b, p) 
+
+p1 = 0.1 + 0.1j
+p2 = 0.1 - 0.1j
+phi = sp.real(sp.convolve([1, -p1], [1, -p2]))
+Obs = sp.vstack((c, sp.dot(c, A)))
+alphae = sp.dot(A, A)-0.2*A+0.02*sp.eye(2,2)
+Lp = sp.dot(alphae, sp.dot(linalg.inv(Obs), sp.array([[0],[1]])))
+
+C = sp.array([[1, 0, 0.5, 2], [0, 1, -4.71, 2.8]])
+dC = 1
+
+[HD,dHD] = polmul(K,0,C,dC)
+[HD,dHD] = polmul(HD,dHD,Lp,0)
+
+print HD, dHD