// settings for pmsm_estim.cpp

experiment={
	ndat = 8000;//32000;
};

system= {
	type = "ITppFileDS";
	filename = "tec0009ALL.it";
	varname="D";
	rv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
};

estimator = (
	 {type="EKF";
	 IM = {type="pmsmIM";
		params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
		variant = "Mz";
	 };
	 OM = {type="pmsmOM";};
	 dQ=[6e-3, 6e-3, 5e-7, 3e-13, 1e-2];
	 dR=[0.0025, 0.0025];
	 mu0=[0., 0., 0.,3.4, 1e-10];
	 dP0=[1., 1., 1., 10., 1e-10];
	 //connect
	 drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
	 rv = {type="rv"; names=["EKFMz"]; sizes=[5];};
	 log_level="logevidence,logbounds";
	 },
	 {type="EKF";
	 IM = {type="pmsmIM";
		params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
		variant = "2o";
	 };
	 OM = {type="pmsmOM";};
	 dQ=[6e-3, 6e-3, 0.3, 5e-9];
	 dR=[0.0025, 0.0025];
	 mu0=[0., 0., 0.,3.4];
	 dP0=[1., 1., 1., 10.];
	 //connect
	 drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
	 rv = {type="rv"; names=["EKF"]; sizes=[4];};
	 log_level="logevidence,logbounds";
	 }
);
	
logger= {
	type="mexlog";
	maxlen = 7999;
};