.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "auto_examples/10_aplications/zv_shaper.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        :ref:`Go to the end <sphx_glr_download_auto_examples_10_aplications_zv_shaper.py>`
        to download the full example code.

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_auto_examples_10_aplications_zv_shaper.py:


Spectrum of zero-vibration (ZV) input shaper
============================================

.. GENERATED FROM PYTHON SOURCE LINES 9-41



.. image-sg:: /auto_examples/10_aplications/images/sphx_glr_zv_shaper_001.png
   :alt: zv shaper
   :srcset: /auto_examples/10_aplications/images/sphx_glr_zv_shaper_001.png
   :class: sphx-glr-single-img





.. code-block:: Python

    import matplotlib.pyplot as plt
    import numpy as np
    import tdcpy
    import tdcpy.plot

    s0 = -24 * 0.1 + 24 * np.sqrt(1 - 0.1**2) * 1j

    beta, omega = -np.real(s0), np.abs(np.imag(s0))
    shaper_length = np.pi / np.abs(np.imag(s0))
    exponent = np.pi * -np.real(s0) / np.abs(np.imag(s0))
    shaper_gain = np.exp( exponent ) / (1 + np.exp( exponent ))

    ddae = tdcpy.DDAE(
        E = np.zeros(shape=(0,0), dtype=np.float64),
        A = np.zeros(shape=(0,0,0), dtype=np.float64),
        hA = np.zeros(shape=(0,), dtype=np.float64),
        B = np.zeros(shape=(0,2,0), dtype=np.float64),
        hb = np.zeros(shape=(0,), dtype=np.float64),
        C = np.zeros(shape=(1,0,0), dtype=np.float64),
        hC = np.zeros(shape=(0,), dtype=np.float64),
        D = [ np.array([[shaper_gain]]), np.array([[1 - shaper_gain]])],
        hD = [0, shaper_length],
    )

    zeros, _ = tdcpy.zeros(ddae, r=[-100, 10, 0, 1250])

    fig, ax = plt.subplots()
    tdcpy.plot.eigen_plot(zeros, ax=ax, label="zeros")
    ax.scatter([np.real(s0)], [np.imag(s0)], s=50, facecolors='none',
               edgecolors='b', marker="o", label=rf"$s_0={s0:.2f}$")
    ax.legend()
    plt.show()


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** (0 minutes 0.084 seconds)


.. _sphx_glr_download_auto_examples_10_aplications_zv_shaper.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: zv_shaper.ipynb <zv_shaper.ipynb>`

    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: zv_shaper.py <zv_shaper.py>`

    .. container:: sphx-glr-download sphx-glr-download-zip

      :download:`Download zipped: zv_shaper.zip <zv_shaper.zip>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_