Initial commit.
#!/usr/bin/env python
# 12.2
import os, sys
sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
import pylab as pl
from xdync import xdync
from polyfuncs import polmul, poladd
def gpc_col(A, dA, B, dB, C, dC, N, k, rho):
D, dD = pl.array([1, -1]), 1
AD, dAD = pl.convolve(A, D), dA+1
Nu = N+1
zj, dzj = 1, 0
G = pl.zeros((Nu, 1))
H1 = pl.zeros((Nu, 2*k+N-2+dB))
H2 = pl.zeros((Nu, k+N+dA))
for j in range(Nu):
zj = pl.convolve(zj, [0,1])
dzj = dzj + 1
Fj, dFj, Ej, dEj = xdync(zj, dzj, AD, dAD, C, dC)[:4]
Nj, dNj, Mj, dMj = xdync(zj, dzj, C, dC, 1, 0)[:4]
Gj, dGj = polmul(Mj, dMj, Ej, dEj)
Gj, dGj = polmul(Gj, dGj, B, dB)
Pj, dPj = polmul(Mj, dMj, Fj, dFj)
Pj, dPj = poladd(Nj, dNj, Pj, dPj)
m, n = G.shape
G = pl.column_stack((G, pl.zeros((m, j+1-n))))
G[j, :j+1] = Gj[j::-1]
H1[j,:dGj-j] = Gj[j+1:dGj+1]
H2[j,:dPj+1] = Pj
K = pl.dot(pl.inv(pl.dot(G.T, G) + rho*pl.eye(Nu,Nu)), G.T)
KH1 = pl.dot(K, H1)
KH2 = pl.dot(K, H2)
R1 = pl.concatenate(([1], KH1[0,:]))
dR1 = len(R1)-1
Sc = KH2[0,:]
dSc = len(Sc)-1;
Tc = K[0,:]
dTc = len(Tc)-1;
return K, KH1, KH2, Tc, dTc, Sc, dSc, R1, dR1