diff -r 000000000000 -r 0efde00f9229 place/sigurd.py
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/place/sigurd.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,57 @@
+# Updated(2-8-07)
+# 9.13 
+
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import scipy as sp
+from scipy import signal
+from myc2d import myc2d
+from dscr import dscr
+from zpowk import zpowk
+from desired import desired
+from pp_im2 import pp_im2
+
+num = 200
+den = sp.convolve([0.05, 1], [0.05, 1])
+den = sp.convolve([10, 1], den)
+G = signal.lti(num,den)
+Ts = 0.025
+num = G.num 
+den = G.den
+B, A, k = myc2d(G, Ts)
+zk, dzk = zpowk(k)
+
+# Transient specifications
+a = 0.9
+rise = 0.24
+epsilon = 0.05
+phi = desired(Ts, rise, epsilon)
+
+# Controller design
+Delta = sp.array([1, -1]) # internal model of step is present
+Rc, Sc, Tc, gamm = pp_im2(B, A, k, phi, Delta, a)
+
+# margin calculation
+Lnum = sp.convolve(Sc, sp.convolve(B,zk))
+Lden = sp.convolve(Rc, A)
+L = signal.lti(Lnum, Lden)
+L = dscr(L, Ts)
+Gm = g_margin(L)
+Pm = p_margin(L)
+
+num1 = 100
+den1 = [10, 1]
+Gd = signal.lti(num1, den1)
+C, D, k1 = myc2d(Gd, Ts)
+zk, dzk = zpowk(k)
+C = sp.convolve(C, zk)
+
+# simulation parameters g_s_cl2
+N = 1
+st = 1 # desired change in setpoint
+st1 = 0 # magnitude of disturbance
+t_init = 0 # simulation start time
+t_final = 1.5 # simulation end time
+
+