diff -r 000000000000 -r 0efde00f9229 place/pd.py
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/place/pd.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,9 @@
+#!/usr/bin/python 
+# Both Rc and Sc have to be degree one polynomials
+
+def pd(Rc,Sc,Ts):
+    K = (Sc[0]+Sc[1])/(1+Rc[1])
+    N = (Sc[1]-Sc[0]*Rc[1])/Rc[1]/(Sc[0]+Sc[1])
+    taudbyN = -Ts*Rc[1]/(1+Rc[1])
+    taud = taudbyN * N
+    return K, taud, N