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PZ2Coef = function(PZ, dt){
# takes a poles/zeros object and returns b, a coefficients for filtering.
# note that this is just an approximation for nonzero dt!
# require(pracma)
if(length(PZ$Knorm) == 0 ){
PZ$Knorm = 1
}
if(length(PZ$Sense) == 0){
PZ$Sense = 1
}
# calculate numerator polynomial (b is moving-average coefficients)
b = ConvDiffCoef(rev(Poly(PZ$zeros)), dt)
# calculate denominator polynomial (a is auto-regressive coefficients)
a = ConvDiffCoef(rev(Poly(PZ$poles))/(PZ$Knorm * PZ$Sense), dt)
return(list(b = b, a = a))
}
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