Initial commit.
#!/usr/bin/python
# 11.6
from zpowk import zpowk
from polyfuncs import polmul, poladd
from tfvar import tfvar
def cl(A,dA,B,dB,C,dC,k,S,dS,R,dR,int1):
"""
int>=1 means integrated noise and control law:
delta u = - (S/R)y
Evaluates the closed loop transfer function and
variances of input and output
"""
zk, dzk = zpowk(k)
BS, dBS = polmul(B,dB,S,dS)
zBS, dzBS = polmul(zk,dzk,BS,dBS)
RA, dRA = polmul(R,dR,A,dA)
if int1>=1:
RA, dRA = polmul(RA, dRA, [1, -1], 1)
D, dD = poladd(RA, dRA, zBS, dzBS)
D = D.squeeze()
Ny, dNy = polmul(C,dC,R,dR)
Nu, dNu = polmul(C,dC,S,dS)
Nu, dNu, Du, dDu, uvar = tfvar(Nu, dNu, D, dD)
Ny, dNy, Dy, dDy, yvar = tfvar(Ny, dNy, D, dD)
return Nu, dNu, Du, dDu, Ny, dNy, Dy, dDy, yvar, uvar