#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#define JW (pow((10.0/2.0) , 1.5))

static double kp1(double t)
{
	double c1 = pow(10.0, 0.2) / ( pow(t, 0.3) * pow(JW, 0.5) );
	double c2 = 0.62 / t;
	if (c1 < c2) {
		return c1;
	}
	return c2;
}
static double ki1(double t)
{
	double c1 = pow(10.0, 0.1) / ( pow(t, -0.4) * JW );
	double c2 = 0.38 / t;
	if (c1 < c2) {
		return c1;
	}
	return c2;
}

#define AP .8
#define AI .2
#define BP (-0.5)
#define BI ( 0.5)
#define TT 1.0

static double kp2(double t)
{
	if (t > TT) {
		return .7 / t;
	}
	return AP * pow(t, BP);
}
static double ki2(double t)
{
	if (t > TT) {
		return .38 / t;
	}
	return AI * pow(t, BI);
}

static void usage(char *progname)
{
	fprintf(stderr,
		"\n"
		"usage: %s [options]\n\n"
		" -a        use method A\n"
		" -b        use method B\n"
		" -s [num]  start sync period in log seconds (default 0)\n"
		" -n [num]  number of sync period steps (default 1)\n"
		" -h        prints this message and exits\n"
		"\n",
		progname);
}

int main(int argc, char *argv[])
{
	char *progname;
	int c, i, s = 0, nvals = 1, method = 1;
	double ts, kp, ki;

	/* Process the command line arguments. */
	progname = strrchr(argv[0], '/');
	progname = progname ? 1+progname : argv[0];
	while (EOF != (c = getopt(argc, argv, "abs:n:h"))) {
		switch (c) {
		case 'a':
			method = 1;
			break;
		case 'b':
			method = 2;
			break;
		case 's':
			s = atoi(optarg);
			break;
		case 'n':
			nvals = atoi(optarg);
			break;
		case 'h':
			usage(progname);
			return 0;
		default:
			usage(progname);
			return -1;
		}
	}

	for (i = 0; i < nvals; i++, s++) {
		if (s < 0) {
			ts = 1.0 / (1 << -s);
		} else {
			ts = (1 << s);
		}
		switch (method) {
		case 1:
			kp = kp1(ts);
			ki = ki1(ts);
			break;
		case 2:
			kp = kp2(ts);
			ki = ki2(ts);
			break;
		}
		printf("%+d %.13f %.13f\n", s, kp, ki);
	}
	return 0;
}