%% ABOUT THIS FILE
% ----------------------------------------------------------------------
% Parameters setup for control model
% Type-A with Dummy Payload for KAGRA
% Coded by K. Okutomi on 2016/12/14
% ----------------------------------------------------------------------

%% CONSTANTS
pp=2*pi;

%% HARDWARE SETTINGS
% ----------------------------------------------------------------------
%% ACTUATOR NORMALIZATION
% Normalize the actuators using local sensors at 0 Hz
% F0
gain_actLF0 = 1./0.0049;
gain_actTF0 = 1./0.0049;
gain_actYF0 = 1./0.009;

% GAS
gain_actGASF0 = 1./4.9922e-4;
gain_actGASF1 = 1./6.1190e-4;
gain_actGASF2 = 1./7.6050e-4;
gain_actGASF3 = 1./9.9399e-4;
gain_actGASBF = 1./0.0014;

% BF
gain_actLBF = 1./0.0073;
gain_actTBF = 1./0.0073;
gain_actVBF = 1./0.0029;
gain_actRBF = 1./0.0155;
gain_actPBF = 1./0.0155;
gain_actYBF = 1./3.8733;

% MT
gain_actLMT = 1.;
gain_actPMT = 1.;
gain_actRMT = 1.;
gain_actTMT = 1.;
gain_actVMT = 1.;
gain_actYMT = 1.;

% IM
gain_actLIM = 1.;
gain_actPIM = 1.;
gain_actRIM = 1.;
gain_actTIM = 1.;
gain_actVIM = 1.;
gain_actYIM = 1.;

% TM
gain_actLTM = 1.;
gain_actPTM = 1.;
gain_actYTM = 1.;

%% COUPRING MATRIX
% Diagonal part
cMat_BF = eye(6);
cMat_MT = eye(6);
cMat_IM = eye(6);
cMat_TM = eye(3);

% Nondiagonal part


%% CONTROL SETTINGS
% ----------------------------------------------------------------------
%% F0 SENSOR BLENDING
blendACC_LF0 = 0;
blendACC_TF0 = 0;
blendACC_YF0 = 0;
blendLVDT_LF0 = 0;
blendLVDT_TF0 = 0;
blendLVDT_YF0 = 0;

%% CONTROL SERVO F0
gainLF0 = 0;
gainTF0 = 0;
gainYF0 = 0;

servoLF0 = 0;
servoTF0 = 0;
servoYF0 = 0;

%% CONTROL SERVO GAS 
gainGASF0 = 0;
gainGASF1 = 0;
gainGASF2 = 0;
gainGASF3 = 0;
gainGASBF = 0;

servoGASF0 = 0;
servoGASF1 = 0;
servoGASF2 = 0;
servoGASF3 = 0;
servoGASBF = 0;

%% CONTROL SERVO BF
gainLBF = 0;
gainTBF = 0;
gainVBF = 0;
gainRBF = 0;
gainPBF = 0;
gainYBF = 0;
gainHieRBF = 0;
gainHiePBF = 0;
gainHieYBF = 0;

servoLBF = 0;
servoTBF = 0;
servoVBF = 0;
servoRBF = 0;
servoPBF = 0;
servoYBF = 0;
servoHieRBF = 0;
servoHiePBF = 0;
servoHieYBF = 0;

%% CONTROL SERVO MT
gainLMT = 0;
gainTMT = 0;
gainVMT = 0;
gainRMT = 0;
gainPMT = 0;
gainYMT = 0;
gainOL_RMT = 0;
gainOL_PMT = 0;
gainOL_YMT = 0;
gainHieLMT = 0;
gainHiePMT = 0;
gainHieYMT = 0;

servoLMT = 0;
servoTMT = 0;
servoVMT = 0;
servoRMT = 0;
servoPMT = 0;
servoYMT = 0;
servoOL_RMT = 0;
servoOL_PMT = 0;
servoOL_YMT = 0;
servoHieLMT = 0;
servoHiePMT = 0;
servoHieYMT = 0;

%% CONTROL SERVO IM
gainLIM = 0;
gainTIM = 0;
gainVIM = 0;
gainRIM = 0;
gainPIM = 0;
gainYIM = 0;
gainHieLIM = 0;
gainHiePIM = 0;
gainHieYIM = 0;

servoLIM = 0;
servoTIM = 0;
servoVIM = 0;
servoRIM = 0;
servoPIM = 0;
servoYIM = 0;
servoHieLIM = 0;
servoHiePIM = 0;
servoHieYIM = 0;

%% CONTROL SERVO TM
gainLTM = 0;
gainPTM = 0;
gainYTM = 0;
gainOL_PTM = 0;
gainOL_YTM = 0;
gainISC_LTM = 0;

servoLTM = 0;
servoPTM = 0;
servoYTM = 0;
servoOL_PTM = 0;
servoOL_YTM = 0;
servoISC_LTM = 0;

%% OLD REFS
%{
% F0 (Normalized with LVDT signals)
gain_actLF0 = 1./0.0049;
gain_actTF0 = 1./0.0050;
gain_actYF0 = 1./0.0092;

% GAS (Normalzed with LVDT signals)
gain_actGASF0 = 1./4.9922e-4;
gain_actGASF1 = 1./6.119e-4;
gain_actGASF2 = 1./7.605e-4;
gain_actGASF3 = 1./9.94e-4;
gain_actGASBF = 1./0.0014;

% BF
gain_actLBF = 1./0.0073;
gain_actTBF = 1./0.0074;
gain_actVBF = 1./0.0029;
gain_actRBF = 1./0.0155;
gain_actPBF = 1./0.0155;
gain_actYBF = 1./5.1460*1.333;

%% BLENDING FILTERS
% This part constructs filters for blending LVDT and geophone signals.
% Blending filters are constructed from polynominal expression of a Laplace
% transformed equation (s+w0)^n, where w0 is the blending frequency and n
% is an arbitrary (odd) integer.

% BLENDING FREQUENCY: 50 mHz
% f_blend = 0.05;
% w_blend = f_blend*pp;

% COEFFICIENTS LIST OF POLYNOMINAL EXPRESSION OF (s+w0)^n
% n_blend = 7; % 7th order blending
% nbd = (n_blend+1)/2;
% cf_poly = zeros(1,n_blend+1);
% for n=0:n_blend; cf_poly(n+1)=nchoosek(n_blend,n)*w_blend^(n); end

% BLENDING FILTERS
% blend_HP = tf([cf_poly(1:nbd),zeros(1,nbd)],cf_poly);
% blend_LP = tf(cf_poly(nbd+1:n_blend+1),cf_poly);

% BLENDING FILTERS (ZPK EXPRESSION)
% blend_LP = myzpk([0.075+1i*0.0581;0.075-1i*0.0581],[0.3;0.3;0.3;0.3;0.3],66.97);
% blend_HP = myzpk([0.75+1i*0.581;0.75-1i*0.581;0;0;0],[0.3;0.3;0.3;0.3;0.3],1);

% GEOPHONE RESPONSES
% georesp  = zpk([-2.13+1i*5.19;-2.13-1i*5.19],[0;0],1);
% vel2disp = zpk([],0,1);

% BLENDING FILTERS WITH GEOPHONE RESPONSES
% blend_LVDT = blend_LP;
% blend_GEO  = minreal(blend_HP*georesp*vel2disp);

% PLOT 1
% freq1=logspace(-3,2,1001);
% mybodeplot({blend_LP,blend_HP,blend_LP+blend_HP},freq1,...
%     {'Low-Pass','High-Pass','Sum'},'Blending filter');
% export_fig('figure/typeB1proto_blending_150618.pdf')

% PLOT 2
% freq1=logspace(-3,2,1001);
% mybodeplot({blend_LVDT,blend_GEO},freq1);

%% SERVO FILTER
% GENERAL SERVO
% damping servo with 300 Hz cutoff
% dampflt = myzpk(0,[3e2,3e2],9e4*pp);

% damping servo with 10 Hz cutoff
% dampflt = myzpk(0,[1e1,1e1],100);
% DC + damping servo with G=400 at 0.1 mHz
% dcdampflt = myzpk([1e-1;1e-1],[1e-4;1e1],10)...
%           * myzpk([],[20;20],(20*pp)^2);

% IP SERVO     
ipservo  = myzpk([0.], [3., 3.], 300*pp);
ipservoY = myzpk([0], [1.e0, 1.e0], 10*pp);
bfservoY = myzpk([0], [0.3, 0.3], 5*pp);
gasf0servo = myzpk([0], [5., 5.], 100*pp);

% SERVO FILTER F0
servoLF0 = ipservo;
servoTF0 = ipservo;
servoYF0 = ipservoY;

% SERVO FILTER GAS
servoGASF0 = gasf0servo;
servoGASF1 = 0;
servoGASF2 = 0;
servoGASF3 = 0;
servoGASBF = 0;

% SERVO FILTER GAS
servoLBF = 0;
servoTBF = 0;
servoVBF = 0;
servoRBF = 0;
servoPBF = 0;
servoYBF = bfservoY;


%% GAIN
gainLF0 = -1;
gainTF0 = -1;
gainYF0 = -1;

gainGASF0 = -1;
gainGASF1 = 0;
gainGASF2 = 0;
gainGASF3 = 0;
gainGASBF = 0;

gainLBF = 0;
gainTBF = 0;
gainVBF = 0;
gainRBF = 0;
gainPBF = 0;
gainYBF = -1;
%}