from numpy import *
from DI_Bounded_2 import DI_controller
import collections
wn = 1
xi = sqrt(2)/2.0
kv = 2.0*xi*wn
sigma_v = 1.0
kp = wn**2
sigma_p = 1.0
eps = 0.01
PAR = collections.namedtuple('DI_paramteres',['kv','sigma_v','kp','sigma_p','eps'])
par = PAR(kv,sigma_v,kp,sigma_p,eps)
# print(par)
Controller = DI_controller(par)
# Controller = DI_controller()
p = numpy.array([-0.53,-1.23,0.98])
v = numpy.array([0.69,1.09,-0.79])
out = Controller._DI_Bounded(p,v)
numpy.set_printoptions(precision=15)
for i in range(12):
# print("{:.15f}".format(out[i]))
print(out[i])
print('\n')
from DI_Bounded_2 import DI_controller
import collections
wn = 1
xi = sqrt(2) / 2.0
kv = 2.0 * xi * wn
sigma_v = 1.0
kp = wn**2
sigma_p = 1.0
eps = 0.01
PAR = collections.namedtuple('DI_paramteres',
['kv', 'sigma_v', 'kp', 'sigma_p', 'eps'])
par = PAR(kv, sigma_v, kp, sigma_p, eps)
# print(par)
Controller = DI_controller(par)
# Controller = DI_controller()
p = numpy.array([-0.53, -1.23, 0.98])
v = numpy.array([0.69, 1.09, -0.79])
out = Controller._DI_Bounded(p, v)
numpy.set_printoptions(precision=15)
for i in range(12):
# print("{:.15f}".format(out[i]))
print(out[i])
print('\n')
