#!/usr/bin/env python
# 12.10

import pylab as pl
from gpc_pid import gpc_pid

A = pl.array([1, -1.95, 0.935])
B = -0.015
C = 1
degA = 2
degB = 0
degC = 0
N1 = 1
N2 = 5
Nu = 2
gamm = 0.05
gamma_y = 1
lambda1 = 0.02

Kp, Ki, Kd = gpc_pid(A, degA, B, degB, C, degC, N1, N2, Nu, lambda1, gamm, gamma_y)

print Kp, Ki, Kd