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// Solution to Aryabhatta's identity arising in PID controller design, namely Eq. 9.37 on page 363.
// 9.20
function [Rc,Sc] = pp_pid(B,A,k,phi,Delta)
// Setting up and solving Aryabhatta identity
dB = length(B) - 1; dA = length(A) - 1;
[zk,dzk] = zpowk(k);
[N,dN] = polmul(B,dB,zk,dzk);
dDelta = length(Delta)-1;
[D,dD] = polmul(A,dA,Delta,dDelta);
dphi = length(phi)-1;
[Sc,dSc,R,dR] = xdync(N,dN,D,dD,phi,dphi);
Rc = convol(R,Delta);
endfunction;
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