#!/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