// settings for pmsm_estim.cpp

experiment={
	ndat = 100000;
};

system= {
	class= "pmsmDS";
	params = "pmsm107@../cfg/zcu.cfg";
	tstep = 1; // steps for profile in [s]
//	profileW = [0, 0, -30, -200, -90, -60, -30, 0, 30, 200];
//	profileW = [30];//[30, 30, 30, 60, 90, 60, 30, 0, -30, -60, -30];
	profileW = [0,0,1, 1, 5, 2, 2, 3, 0, 0, -3, -3, -1, -1, -4, 0, 0];
//	profileM = [0, 30, 0, 0, 30, 0, 0, 0, 0, 0, 10, 0, 0];
	profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
};

estimators = (
	 {class="EKF_UD";
	 IM = {class="IMpmsmStat";
		params = "pmsm107@../cfg/zcu.cfg";
	 };
	 OM = {class="OMpmsmRO";};
	dQ=[0.01, 0.01, 0.0005, 0.001];
//	dQ=[18., 18., 157., 0.001];
	dR=[0.05, 0.05];
//	dR=[90., 90.];
	dP0=[18000., 18000., 157000000., 10.];
	 //connect
	 yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u
	 rvc = {class="RV"; names=("o_ua","o_ub");};  // observed u
	 rv = {class="RV"; names=("ia","ib","om","th");};
	 log_level="logmean,logevidence,logU,logG,logD";
	 name = "Est0";
	 },
	 {class="EKFfixedUD";
	 //connect
	 yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u
	 rvc = {class="RV"; names=("o_ua","o_ub");};  // observed u
	 rv = {class="RV"; names=("fix_ia","fix_ib","fix_om","fix_th","fix_M");};
	 log_level="logmean,logevidence,logbounds,logU,logG,logD";
	 name = "Est1";
	 }
	 );
estimator0=(
	{class="EKF_UDfix";
	 IM = {class="IMpmsmMz";
		params = "pmsm107@../cfg/zcu.cfg";
	 };
	 OM = {class="OMpmsmRO";};
	//dQ=[0.0, 0.0, 0.0000, 1e-10, 0.0];
	dQ=[0.05, 0.05, 0.001, 0.000001, 0.1]; ///////// <====== OK
//	dQ=[0.017, 0.017, 0.0004, 1e-5, 1e-1];
	dR=[0.025, 0.025];
	dP0=[0.1, 0.1, 0.1, 0.1, 0.1];
	 //connect
	 yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u
	 rvc = {class="RV"; names=("t_ua","t_ub");};  // observed u
	 //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
	 rv = {class="RV"; names=("UKFMz_ia","UKFMz_ib","UKFMz_om","UKFMz_th","UKFMz_M");};
	 log_level="logmean,logevidence,logbounds,logU,logG,logD";
	 }
);
	
logger= {
	class="dirfilelog";
	maxlen = 100;
	dirname = "exp/fix";
};