################################################

# #

# Joseph Dennison #

# ECE 351-51 #

# Lab 7 #

# 3/10/20 #

# #

#################################################

import numpy as np

import matplotlib.pyplot as plt

import scipy.signal as sig

import control as con

import pandas as pd

steps = 1e-2

t = np.arange(0, 4+steps, steps)

Gnum = [1, 9]

Gden = [1, -2, -40, -64]

Anum = [1, 4]

Aden = [1, 4, 3]

B = [1, 26, 168]

z1, p1, k1 = sig.tf2zpk(Gnum, Gden)

z2, p2, k2 = sig.tf2zpk(Anum, Aden)

broot = np.roots(B)

print("Z1: ",z1)

print("P1: ",p1)

print("K1: ",k1)

print("Z2: ",z2)

print("P2: ",p2)

print("K2: ",k2)

print("Broots: ",broot)

opennum = sig.convolve(Gnum, Anum)

openden = sig.convolve(Gden, Aden)

tout1, yout1 = sig.step((opennum, openden), T=t)

plt.figure(figsize = (10, 10))

plt.plot(tout1, yout1)

plt.title('Part One: Open System')

closenum= sig.convolve(Anum, Gnum)

#den1= sig.convolve(Gnum, B)

#print(len(den1))

#print(len(Gden))

#den2 = den1 + Gden

#closeden= sig.convolve(Aden, den2)

closeden= sig.convolve(Aden, (sig.convolve(Gnum, B)+Gden))

tout2, yout2 = sig.step((closenum, closeden), T=t)

plt.figure(figsize = (10, 10))

plt.plot(tout2, yout2)

plt.title('Part Two: Closed System')