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// Design of 2-DOF pole placement controller, as discussed in Sec. 9.2.
// 9.5
// function [Rc,Sc,Tc,gamma] = pp_basic(B,A,k,phi)
// calculates pole placement controller
function [Rc,Sc,Tc,gamm] = pp_basic(B,A,k,phi)
// Setting up and solving Aryabhatta identity
[Ag,Ab] = polsplit2(A); dAb = length(Ab) - 1;
[Bg,Bb] = polsplit2(B); dBb = length(Bb) - 1;
[zk,dzk] = zpowk(k);
[N,dN] = polmul(Bb,dBb,zk,dzk);
dphi = length(phi) - 1;
[S1,dS1,R1,dR1] = xdync(N,dN,Ab,dAb,phi,dphi);
// Determination of control law
Rc = convol(Bg,R1); Sc = convol(Ag,S1);
Tc = Ag; gamm = sum(phi)/sum(Bb);
endfunction;
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