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## PathSim Example for TransferFunction

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# IMPORTS ===============================================================================

import matplotlib.pyplot as plt

import numpy as np

from pathsim import Simulation, Connection

from pathsim.blocks import Source, Scope, TransferFunctionPRC

from pathsim.solvers import RKCK54, GEAR52A

# STEP RESPONSE OF A TRANSFER FUNCTION ==================================================

#step delay

tau = 5.0

#simulation timestep

dt = 0.05

#transfer function parameters

const = 0.0

poles = [-0.3, -0.05+0.4j, -0.05-0.4j, -0.1+2j, -0.1-2j]

residues = [-0.2, -0.2j, 0.2j, 0.3, 0.3]

#blocks and connections

Sr = Source(lambda t: int(t>=tau))

TF = TransferFunctionPRC(Poles=poles, Residues=residues, Const=const)

Sc = Scope(labels=["step", "response"])

blocks = [Sr, TF, Sc]

connections = [

Connection(Sr, TF, Sc),

Connection(TF, Sc[1])

]

#initialize simulation

Sim = Simulation(blocks, connections, dt=dt, log=True, Solver=RKCK54)

# Run Example ===========================================================================

if __name__ == "__main__":

#run simulation

Sim.run(100)

#plot the results from the scope directly

Sc.plot()

plt.show()