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#!/usr/bin/python
import sciscipy
# u is a TUPLE vector of width w
def csim(P,I,D,n0,n1,d0,d1,u):
code_string1 = "s=%s;"
code_string2 = "Gc=syslin('c',("+str(P*I+D)+"*s)"+","+str(I)+"*s);"
code_string3 = "G=syslin("
code_string4 = "'c'"+","+str(n0)+"*s"+"+"+str(n1)+","+str(d0)+"*s"+"+"+str(d1)+");"
code_string5 = "r=tf2ss(G*Gc);"
code_string6 = "u="+str((u))+";"
code_string7 = "y=csim(u,1:length(u),r)"
code_string = code_string1+code_string2+code_string3+code_string4+code_string5+code_string6+code_string7
import sciscipy
sciscipy.eval(code_string)
y = sciscipy.read("y")
return y
#print "y"
if __name__ == "__main__":
u = [0]*100
u[50] = 1
out = csim(2,0.5,0.6,1,1,2,1,u)
print out
import matplotlib.pyplot as plt
plt.plot(out)
plt.show()
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