diff -r 000000000000 -r 0efde00f9229 place/unstb.py
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/place/unstb.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,39 @@
+#!/usr/bin/python 
+# 9.7
+import os, sys
+sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
+
+import scipy as sp
+from scipy import signal
+from zpowk import zpowk
+from pp_basic import pp_basic
+from desired import desired
+
+Ts = 1
+B = sp.array([1, -3])
+A = sp.array([1, 2, -8])
+k = 1
+
+# Since k=1, tf is of the form z^-1
+zk, dzk = zpowk(k) 
+
+
+# Transient specifications
+rise = 10
+epsilon = 0.1
+phi = desired(Ts, rise, epsilon)
+
+# Controller design
+Rc, Sc, Tc, gamm = pp_basic(B, A, k, phi)
+
+# Setting up simulation parameters for basic
+st = 1.0 # desired change in h, in m.
+t_init = 0  # simulation start time
+t_final = 1000 # simulation end time
+
+# Setting up simulation parameters for c_ss_cl
+N_var = 0
+N = 1
+C = 0 
+D = 1
+