def den_lat_dir():
poly_dr = second_order_tf(zeta_dr, omega_dr)
poly_sp = first_order_tf(t_roll)
poly_rl = first_order_tf(t_spiral)
# poly_rs = second_order_tf(zeta_rs, omega_rs)
den = polymul(poly_rl, polymul(poly_sp, poly_dr))
# den = polymul(poly_rs, poly_dr)
return den
def den_long():
poly_sp = second_order_tf(zeta_sp, omega_sp)
poly_ph = second_order_tf(zeta_ph, omega_ph)
den = polymul(poly_ph, poly_sp)
return den
def num_phi():
poly_phi = second_order_tf(zeta_phi, omega_phi)
num = polymul(poly_phi, a_phi * k_phi)
return num