--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/place/dof_choice.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+# 9.17
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import scipy as sp
+from pp_pid import pp_pid
+from pp_im import pp_im
+from zpowk import zpowk
+
+# test problem to demonstrate benefits of 2_dof
+
+Ts = 1
+k = 1
+B = sp.convolve([1, 0.9], [1, -0.8])
+A = sp.convolve([1, -1], [1, -0.5])
+ 
+# closed loop characteristic polynomial
+phi = [1, -1, 0.5]
+
+Delta = 1 # Choice of internal model of step
+control = 1
+if control == 1: #/ 1-DOF with no cancellation
+   Rc, Sc = pp_pid(B, A, k, phi, Delta)
+   Tc = Sc
+   gamm = 1
+else: #2-DOF
+   Rc, Sc, Tc, gamm = pp_im(B, A, k, phi, Delta)
+
+# simulation parameters for stb_disc
+zk, dzk = zpowk(k)
+st = 1 # desired step change
+t_init = 0 # simulation start time
+t_final = 20 # simulation end time
+xInitial = [0, 0]
+C = 0
+D = 1
+N_var = 0