// settings for pmsm_estim.cpp

experiment={
	ndat = 60000;
};

system= {
	type = "pmsmDS";
	params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
	tstep = 1.0; // steps for profile in [s]
	profileW = [1, 5, 10, 10, 10, 3, 0, 0];
	profileM = [0, 0, 10, 0, 10, 0, 10, 0];
};

E1={type="EKF";
	 IM = {type="pmsmIM";
		params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
		variant = "2o";
	 };
	 OM = {type="pmsmOM";};
	 dQ=[1.7, 1.7, 0.004, 1e-5];
	 dR=[0.025, 0.025];
	 dP0=[1., 1., 1., 1.];
	 //connect
	 drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
	 //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
	 rv = {type="rv"; names=["EKF"]; sizes=[4];};
	 log_level="logevidence";
	 };
E2= {type="EKF";
	 IM = {type="pmsmIM";
		params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
		variant = "Stat";
	 };
	 OM = {type="pmsmOM";};
	 dQ=[1.7, 1.7, 0.004, 1e-5];
	 dR=[0.025, 0.025];
	 dP0=[1., 1., 1., 1.];
	 //connect
	 drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
	 //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
	 rv = {type="rv"; names=["EKFw"]; sizes=[4];};
	 log_level="logevidence";
	 };
	 
estimator = (
	{type="internal";path="E1";},
	{type="internal";path="E2";},
	{type="MultiModel";
	 models=(
	 	{type="internal";path="E1";},
		{type="internal";path="E2";});
		log_level="logevidence";
	});
	
logger= {
`	type="dirfilelog";
	maxlen = 1;
	dirname = "MM";
};