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+// Smith predictor for paper machine control in Example 10.2 on page 385.

+// 10.2

+

+exec('zpowk.sci',-1);

+exec('poladd.sci',-1);

+exec('polsize.sci',-1);

+exec('pp_im.sci',-1);

+exec('polsplit3.sci',-1);

+exec('polmul.sci',-1);

+exec('xdync.sci',-1);

+exec('rowjoin.sci',-1);

+exec('left_prm.sci',-1);

+exec('t1calc.sci',-1);

+exec('indep.sci',-1);

+exec('makezero.sci',-1);

+exec('move_sci.sci',-1);

+exec('colsplit.sci',-1);

+exec('clcoef.sci',-1);

+exec('cindep.sci',-1);

+exec('seshft.sci',-1);

+exec('cosfil_ip.sci',-1);

+exec('polyno.sci',-1);

+

+Ts = 1; B = 0.63; A = [1 -0.37]; k = 3;

+Bd = convol(B,[0 1]);

+kd = k - 1;

+[zkd,dzkd] = zpowk(kd);

+[mzkd,dmzkd] = poladd(1,0,-zkd,dzkd);

+

+// Desired transfer function

+phi = [1 -0.5]; delta = 1;

+

+// Controller design

+[Rc,Sc,Tc,gamm] = pp_im(B,A,1,phi,delta);

+

+// simulation parameters for smith_disc.xcos 

+st = 1.0; // desired change in setpoint

+t_init = 0; // simulation start time

+t_final = 20; // simulation end time

+

+// simulation parameters for smith_disc.xcos

+N_var = 0; C = 0; D = 1; N = 1; 

+

+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1

+[Rcp1,Rcp2] = cosfil_ip(1,Rc); // 1/Rc

+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1

+[Bdp,Ap] = cosfil_ip(Bd,A); // Bd/Ad

+[zkdp1,zkdp2] = cosfil_ip(zkd,1); // zkd/1

+[mzkdp1,mzkdp2] = cosfil_ip(mzkd,1); // mzkd/1

+[Cp,Dp] = cosfil_ip(C,D); // C/D

+