%% ABOUT THIS FILE
% ----------------------------------------------------------------------
% Type-B SAS for KAGRA
% Coded by Y. Fujii on July 21th, 2018.
% ----------------------------------------------------------------------

%% PRELIMINARY ----------------------------------------------------------------------------
clear all;  % Clear workspace
close all;  % Close plot windows
addpath('../../utility');  % Add path to utilities
% addpath('/usr/local/matlab/altmany-export_fig-76bd7fa');
g = 9.81;

%% IMPORT SUSPENSION MODEL ----------------------------------------------------------------------------
matfile='SR3_180502';
load([matfile,'mdl.mat']);

%% TUNING DAMPER
% This part compensates the failure in converting the structural damping to
% viscous damping.

% REDUCE DAMPING ON IM
sys1.a(37,37)=sys1.a(37,37)/3.e3; % RIR
sys1.a(43,43)=sys1.a(43,43)/3.e3; % RIM
%sys1.a(40,40)=sys1.a(40,40)/30; % RRM

% INCREASE DAMPING ON F0
sys1.a(13,13)=sys1.a(13,13)/3.e3; % LF0
sys1.a(14,14)=sys1.a(14,14)/3.e3; % TF0
sys1.a(15,15)=sys1.a(15,15)*300; % YF0

% INCREASE DAMPING ON MD
%sys1.a(16,16)=sys1.a(16,16)/5000; % LMD
%sys1.a(17,17)=sys1.a(17,17)/5000; % TMD

% INCREASE DAMPING ON RM, TM
%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
DefaultParameters;         % NO CONTROL MODE
rmpath ('servofilter');    % Remove path to servo

%% IMPORT SIMULINK MODEL ----------------------------------------------------------------------------
mdlfile='typeBsimctrl'; % typeB_bKAGRA ver. 20180502
st     =linmod(mdlfile);
invl   =strrep(st.InputName, [mdlfile,'/'],'');
outvl  =strrep(st.OutputName,[mdlfile,'/'],'');
sysc0  =ss(st.a,st.b,st.c,st.d,'inputname',invl,'outputname',outvl);


%% MODEL ----------------------------------------------------------------------------
addpath('servofilter');         % Add path to servo
servo_damp2;        % Damping MODE
rmpath ('servofilter');         % Remove path to servo

%% IMPORT SIMULINK MODEL -------------------------------------------------------------
mdlfile='typeBsimctrl';
st     =linmod(mdlfile);
invl   =strrep(st.InputName, [mdlfile,'/'],'');
outvl  =strrep(st.OutputName,[mdlfile,'/'],'');
sysc   =ss(st.a,st.b,st.c,st.d,'inputname',invl,'outputname',outvl);


%% FREQUENCY ----------------------------------------------------------------------
freq1=logspace(-2,3,1001);
freq2=logspace(-3,2,1001);
freq=logspace(-2,2,1001);

%%% --- Preperation for  PLOT --- %%%
output_dir = 'figures/CLTF';

% bodesusplot_syscmp(sys1,sys2,inv,outv,freq,varargin)

%% TRANSFER FUNCTION F0 ----------------------------------------------------------------------

bodesusplotcmp(sysc0, sysc, 'actLIP','LVDT_LIP',freq2,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_LIP_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actTIP','LVDT_TIP',freq2,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_TIP_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actYIP','LVDT_YIP',freq2,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_YIP_damp.pdf', output_dir);
export_fig(figname)

%% TRANSFER FUNCTION IM ----------------------------------------------------------------------

bodesusplotcmp(sysc0, sysc, 'actLIM','OSEM_LIM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_LIM_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actTIM','OSEM_TIM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_TIM_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actVIM','OSEM_VIM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_VIM_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actRIM','OSEM_RIM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_RIM_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actPIM','OSEM_PIM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_PIM_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actYIM','OSEM_YIM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_YIM_damp.pdf', output_dir);
export_fig(figname)


bodesusplotcmp(sysc0, sysc, 'actPIM','OpLev_PTM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_PIM2PTM_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actYIM','OpLev_YTM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_YIM2YTM_damp.pdf', output_dir);
export_fig(figname)

%% TRANSFER FUNCTION TM ----------------------------------------------------------------------

bodesusplotcmp(sysc0, sysc, 'actLTM','OpLev_LTM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_LTM_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actPTM','OpLev_PTM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_PTM_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actYTM','OpLev_YTM',freq,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_YTM_damp.pdf', output_dir);
export_fig(figname)

%% TRANSFER FUNCTION GAS ----------------------------------------------------------------------

bodesusplotcmp(sysc0, sysc, 'actGASF0','LVDT_GASF0',freq2,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_GASF0_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actGASF1','LVDT_GASF1',freq2,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_GASF1_damp.pdf', output_dir);
export_fig(figname)

bodesusplotcmp(sysc0, sysc, 'actGASBF','LVDT_GASBF',freq2,...
   {'Control OFF','Control ON'});
figname = sprintf('%s/CLTF_GASBF_damp.pdf', output_dir);
export_fig(figname)