def mycost(C):
th, accel = step_response(C)
ts = measurement_utils.find_settling_time(th, u, t, p=0.01)
mp = th.max()/u[-1]
return ts + (mp-1)
blist = Ga5.Ga5.num.coeffs.tolist()
gain = blist[0]
z = blist[1]/gain
#ig = Ga5.Ga5.den.coeffs[1:].tolist() + [gain]
ig = array([44.46407632, 258.87341724, 276.53309716, 453.43453413])
#ig = Ga5.Ga5.den.coeffs[1:].tolist() + Ga5.Ga5.num.coeffs.tolist()
#ig = Ga5.Ga5.den.coeffs[1:].tolist() + [0] + Ga5.Ga5.num.coeffs.tolist()
#ig = Ga5.Ga5.den.coeffs[1:].tolist() + Ga5.Ga5.num.coeffs.tolist() + [1.01]
## ig = array([ 1.63492735e+01, 3.10898809e+02, 9.44903871e+02,
## 2.48671857e+02, 3.13400963e+02, 6.62214709e-01])
## ig = array([ 1.63492735e+01, 3.10898809e+02, 9.44903871e+02,
## 1.0, 240.0])
th_Ga5, a_Ga5 = step_response(ig, calca=True)
ts_Ga5 = measurement_utils.find_settling_time(th_Ga5, u, t, p=0.01)
figure(1)
clf()
plot(t,u, label=None)
plot(t,th_Ga5, label='$\\theta_{Ga5}$')
plot(t,a_Ga5, label='$\\ddot{x}_{Ga5}$')
C2 = array([ 43.06911092, 317.7518689 , 642.30362953, 250,
245])
## th2, a2 = step_response(C2, calca=True)
## plot(t,th2, label='$\\theta_{2}$')
## plot(t,a2, label='$\\ddot{x}_{2}$')