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41 lines
1.1 KiB
Python
41 lines
1.1 KiB
Python
import numpy as np
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class Filter(object):
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def __init__(self, b, a=()):
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self.b = b
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self.a = a
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self.x = [0] * len(b)
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self.y = [0] * len(a)
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def __call__(self, x):
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self.x = [x] + self.x
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self.x = self.x[:len(self.b)]
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self.y = self.y[:len(self.a)]
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y = np.dot(self.x, self.b) + np.dot(self.y, self.a)
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self.y = [y] + self.y
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return y
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class Loop(object):
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def __init__(self, x, A, k, h):
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self.x = np.array(x)
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self.A = np.array(A)
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self.k = np.array(k)
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self.h = np.array(h)
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def __call__(self, y):
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self.err = y - np.dot(self.h, self.x)
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self.dx = self.k * self.err
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self.x = self.x + self.dx
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self.x = np.dot(self.A, self.x)
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class Integrator(Loop):
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def __init__(self, phase, freq, k):
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x = [phase, freq] # state variable vector
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# evolution matrix:
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# | phase' = phase + freq
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# | freq' = freq
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A = [[1, 1], [0, 1]]
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h = [1, 0] # phase = dot(h, x)
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Loop.__init__(self, x=x, A=A, k=k, h=h)
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