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+// Illustrating the benefit of cancellation. It is used to arrive at the results of Example 9.15.
+// 9.17
+
+exec('pp_im.sci',-1);
+exec('pp_pid.sci',-1);
+exec('zpowk.sci',-1);
+exec('polmul.sci',-1);
+exec('polsize.sci',-1);
+exec('xdync.sci',-1);
+exec('rowjoin.sci',-1);
+exec('left_prm.sci',-1);
+exec('t1calc.sci',-1);
+exec('indep.sci',-1);
+exec('seshft.sci',-1);
+exec('makezero.sci',-1);
+exec('move_sci.sci',-1);
+exec('colsplit.sci',-1);
+exec('clcoef.sci',-1);
+exec('cindep.sci',-1);
+exec('polyno.sci',-1);
+exec('cosfil_ip.sci',-1);
+
+
+// test problem to demonstrate benefits of 2_dof
+// Ts = 1; B = [1 0.9]; A = conv([1 -1],[1 -0.8]); k = 1;
+Ts = 1; k = 1;
+B = convol([1 0.9],[1 -0.8]); A = convol([1 -1],[1 -0.5]);
+ 
+// closed loop characteristic polynomial
+phi = [1 -1 0.5];
+
+Delta = 1; // Choice of internal model of step
+control = 1;
+if control == 1, // 1-DOF with no cancellation
+   [Rc,Sc] = pp_pid(B,A,k,phi,Delta);
+   Tc = Sc; gamm = 1;
+else // 2-DOF
+   [Rc,Sc,Tc,gamm] = pp_im(B,A,k,phi,Delta);
+end
+
+// simulation parameters for stb_disc.mdl
+[zk,dzk] = zpowk(k);
+st = 1; // desired step change
+t_init = 0; // simulation start time
+t_final = 20; // simulation end time
+xInitial = [0 0];
+C = 0; D = 1; N_var = 0;
+
+[Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1
+[Rcp1,Rcp2] = cosfil_ip(1,Rc); // 1/Rc
+[Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1
+[Bp,Ap] = cosfil_ip(B,A); // B/A
+[zkp1,zkp2] = cosfil_ip(zk,1); // zk/1
+[Cp,Dp] = cosfil_ip(C,D); // C/D
+
+
+
+