#!/usr/bin/python
## 4.4
import os, sys
sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]

import scipy as sp
from scipy import signal
from dscr import dscr

F = sp.array([[0,0],[1,-0.1]])
G = sp.array([[0.1],[0]])
C = sp.array([0,1])
D = 0
Ts = 0.2

H = signal.lti(F, G, C, D)

H = dscr(H,Ts)
n, d = H.num, H.den

print "Numerator: ", n
print "Denominator: ", d
print "Sampling Time: ", Ts