--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/place/motor.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,40 @@
+#!/usr/bin/python
+# 9.11
+
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import scipy as sp
+from scipy import signal
+from myc2d import myc2d
+
+# Motor control problem
+# Transfer function
+
+a1 = sp.array([[-1, 0], [1, 0]]) 
+b1 = sp.array([[1],[0]]) 
+c1 = sp.array([0, 1])
+d1 = 0
+G = signal.lti(a1, b1, c1, d1)
+Ts = 0.25
+B, A, k = myc2d(G,Ts)
+
+# Transient specifications
+rise = 3
+epsilon = 0.05
+phi = desired(Ts,rise,epsilon)
+
+# Controller design
+Delta = 1 # No internal model of step used
+Rc, Sc, Tc, gamm = pp_im(B, A, k, phi, Delta)
+
+# simulation parameters
+st = 1 # desired change in position
+t_init = 0 # simulation start time
+t_final = 10 # simulation end time
+
+xInitial = [0, 0] # initial conditions
+N = 1
+C = 0
+D = 1
+N_var = 0