%% ABOUT THIS FILE
% ----------------------------------------------------------------------
% Type-B1 prototype for KAGRA
% Coded by T. Sekiguchi on 2015/06/16
% ----------------------------------------------------------------------

%% PRELIMINARY
clear all;  % Clear workspace
close all;  % Close plot windows
addpath('../../../../utility');  % Add path to utilities
g = 9.81;

%% IMPORT SUSPENSION MODEL
matfile='../typeBp161115mdl';
load([matfile,'.mat']);


%% TUNING DAMPER
% This part compensates the failure in converting the structural damping to
% viscous damping.
% REDUCE DAMPING ON RIM
sys1.a(34,34)=sys1.a(34,34)/30; % RIM
sys1.a(40,40)=sys1.a(40,40)/30; % RRM
%sys1.a(46,46)=sys1.a(46,46)/30; % RTM
% INCREASE DAMPING ON YF0
%sys1.a(15,15)=sys1.a(15,15)*3000; % YF1
%sys1.a(15,15)=sys1.a(15,15)*1000; % YF1
% INCREASE DAMPING ON LF1
%sys1.a(13,13)=sys1.a(13,13)*3000; % LF1
% INCREASE DAMPING ON TF1
%sys1.a(14,14)=sys1.a(14,14)*3000; % TF1
% INCREASE DAMPING ON YRM, YTM
sys1.a(42,42)=sys1.a(42,42)*30;   % YRM
sys1.a(48,48)=sys1.a(48,48)*300;  % YTM
% INCREASE DAMPING ON VTM
sys1.a(45,45)=sys1.a(45,45)*100;  % VTM


%% IMPORT SERVO FILTERS
addpath('servofilter');         % Add path to servo
typeBp161115_no_control_no_normalized;        % NO CONTROL MODE
rmpath ('servofilter');         % Remove path to servo

%% IMPORT SIMULINK MODEL
mdlfile='typeBp161115simctrl_LengthOL'; % typeB1 ver.150616
st     =linmod(mdlfile);
invlc0   =strrep(st.InputName, [mdlfile,'/'],'');
outvlc0  =strrep(st.OutputName,[mdlfile,'/'],'');
sysc0   =ss(st.a,st.b,st.c,st.d,'inputname',invlc0,'outputname',outvlc0);


%% IMPORT SERVO FILTERS
%addpath('servofilter');         % Add path to servo
%typeBp161115_servo_damp5;   % SCIENECE MODE
%rmpath ('servofilter');         % Remove path to servo

%% IMPORT SIMULINK MODEL
%mdlfile='typeBp161115simctrl_LengthOL'; % typeB1 ver.150616
%st     =linmod(mdlfile);
%invlc   =strrep(st.InputName, [mdlfile,'/'],'');
%outvlc  =strrep(st.OutputName,[mdlfile,'/'],'');
%sysc   =ss(st.a,st.b,st.c,st.d,'inputname',invlc,'outputname',outvlc);

%% FREQUENCY
freq1=logspace(-2,1,1001);
freq2=logspace(-2,2,1001);

[yc0,t] = impulse(sysc0,0:5e-1:5000);
%[yc,t] = impulse(sysc,0:5e-2:300);
%plot(t,yc0(:,7,13));
%export_fig('impulse_7_13_no_normalized.pdf');

%plot(t,yc0(:,14,8));
plot(t,yc0(:,9,15));
export_fig('impulse_9_15_no_normalized.pdf');