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+// Pole placement controller without intra sample oscillations, as discussed in Sec. 9.5.
+// 9.13
+
+// function [Rc,Sc,Tc,gamma,phit] = pp_im2(B,A,k,phi,Delta,a)
+// 2-DOF PP controller with internal model of Delta and without
+// hidden oscillations
+
+function [Rc,Sc,Tc,gamm,phit] = pp_im2(B,A,k,phi,Delta,a)
+
+if argn(2) == 5, a = 1; end
+dphi = length(phi)-1;
+
+// Setting up and solving Aryabhatta identity
+[Ag,Ab] = polsplit3(A,a); dAb = length(Ab) - 1;
+[Bg,Bb] = polsplit3(B,a); dBb = length(Bb) - 1;
+
+[zk,dzk] = zpowk(k);
+
+[N,dN] = polmul(Bb,dBb,zk,dzk);
+dDelta = length(Delta)-1;
+[D,dD] = polmul(Ab,dAb,Delta,dDelta);
+
+[S1,dS1,R1,dR1] = xdync(N,dN,D,dD,phi,dphi);
+
+// Determination of control law
+Rc = convol(Bg,convol(R1,Delta)); Sc = convol(Ag,S1);
+Tc = Ag; gamm = sum(phi)/sum(Bb); 
+
+// Total characteristic polynomial
+phit = convol(phi,convol(Ag,Bg));
+endfunction;