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#!/usr/bin/python
import sciscipy
# u is a TUPLE vector of width w
def discrete_sim(P,I,D,n0,n1,st,d0,d1,u):
code_string1 = "s=%s;"
code_string2 = "Gc=syslin("+str(st)+",("+str(P*I+D)+"*s)"+","+str(I)+"*s);"
code_string3 = "G=syslin("
code_string4 = str(st)+","+str(n0)+"*s"+"+"+str(n1)+","+str(d0)+"*s"+"+"+str(d1)+");"
code_string5 = "r=tf2ss(G*Gc);"
code_string6 = "u="+str((u))+";"
code_string7 = "y=dsimul(r,u)"
code_string = code_string1+code_string2+code_string3+code_string4+code_string5+code_string6+code_string7
# Check complete_code_string
#print code_string
import sciscipy
sciscipy.eval(code_string)
y = sciscipy.read("y")
return y
#print discrete_sim(1,1,0.1,2,1,"u=zeros(1,50);u(10)=1")
if __name__ == "__main__":
u = [0]*100
u[50] = 1
out = discrete_sim(2,0.5,0.6,1,1,0.1,2,1,u)
print out
#import matplotlib.pyplot as plt
#plt.plot(out)
#plt.show()
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