Initial commit.
#!/usr/bin/python
# 9.8
import os, sys
sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
import scipy as sp
from polyfuncs import polmul
from polyfuncs import polsplit3
from zpowk import zpowk
from xdync import xdync
def pp_im2(B, A, k, phi, Delta, a=1):
Delta = sp.atleast_1d(Delta)
# Setting up and solving Aryabhatta identity
Ag, Ab = polsplit3(A, a)
dAb = len(Ab) - 1
Bg, Bb = polsplit3(B, a)
dBb = len(Bb) - 1
zk, dzk = zpowk(k)
N, dN = polmul(Bb, dBb, zk, dzk)
dDelta = len(Delta)-1
D, dD = polmul(Ab, dAb, Delta, dDelta)
dphi = len(phi)-1
S1, dS1, R1, dR1 = xdync(N, dN, D, dD, phi, dphi)[:4]
# Determination of control law
R1 = sp.squeeze(R1)
S1 = sp.squeeze(S1)
Rc = sp.convolve(Bg, sp.convolve(R1, Delta))
Sc = sp.convolve(Ag, S1)
Tc = Ag
gamm = phi.sum()/Bb.sum()
# Total characteristic polynomial
phit = sp.convolve(phi, sp.convolve(Ag, Bg)
return Rc, Sc, Tc, gamm, phit