--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/place/motor_pd.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,58 @@
+#!/usr/bin/python
+# 9.21
+
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import scipy as sp
+from myc2d import myc2d
+from scipy import signal
+from desired import desired
+from pd import pd
+
+# Motor control problem
+# Transfer function
+
+a = sp.array([[-1, 0], [1, 0]]) 
+b = sp.array([[1],[0]]) 
+c = sp.array([0, 1])
+d = 0
+G = signal.lti(a,b,c,d)
+Ts = 0.25
+B, A, k = myc2d(G,Ts)
+num, den = G.num, G.den
+
+# Transient specifications
+rise = 3
+epsilon = 0.05
+phi = desired(Ts,rise,epsilon)
+
+# Controller design
+Delta = 1 # No internal model of step used
+Rc, Sc = pp_pid(B, A, k, phi, Delta)
+
+# continuous time controller
+K, taud, N = pd(Rc, Sc, Ts)
+numb = K*sp.array([1, taud*(1+1/N)]) 
+denb = sp.array([1, taud/N])
+numf = 1
+denf = 1
+
+# simulation parameters
+st = 1 # desired change in position
+t_init = 0 # simulation start time
+t_final = 20 # simulation end time
+st1 = 0
+
+# continuous controller simulation: g_s_cl3.cos
+num1 = 0
+den1 = 1
+
+# discrete controller simulation: g_s_cl2.cos
+# u1: -0.1 to 0.8
+# y1: 0 to 1.4
+C = 0
+D = 1
+N = 1
+gamm = 1
+Tc = Sc