freq1=logspace(-3,2,1001);
freq2=logspace(-4,2,1001);

cmpPIM = myzpk(myfQv(0.7,50),myfQv(50,1),(50/0.7)^2*1);
srvtst_OLP = myzpk([0.1;myfQv(0.4,5)],...
    [1e-4;3e-1;myfQv(10,1);myfQv(10,1)],1*(15*pp)^2*(15*pp)^2)*myresonantfilter(4.9,500,1)*...
    myresonantfilter(10,10,2);

cmpYIM = myzpk(myfQv(1.2,50),myfQv(20,1),(50/1.2)^2*1);
srvtst_OLY = myzpk([0.2;myfQv(0.15,3)],...
    [1e-4;3e-1;myfQv(5,1);myfQv(5,1)],0.5*(5*pp)^2*(5*pp)^2)*...
    myresonantfilter(10,10,2);

% SERVO FILTER OpLev
servo_oplev_PIM = srvtst_OLP*cmpPIM/2/5*2;
servo_oplev_YIM = srvtst_OLY*cmpYIM/2*2;

mybodeplot({servo_oplev_PIM,servo_oplev_YIM},freq,...
    {'PIM 2 PTM OpLev','YIM 2 YTM OpLev'},'IM-TM servo filter');


bodesusplotcmpoptOLTF(sysc0,...
     {'actPIM','OpLev_PTM';'actYIM','OpLev_YTM'},freq2,...v
     'ylim',[1e-5,1e4],'calibration',...
     {gain_act_PIM*servo_oplev_PIM,gain_act_YIM*servo_oplev_YIM},...
     'unit1','1','title','Open Loop Gain',...
     'legend',{'P','Y'});