// settings for pmsm_estim.cpp

experiment={
	Ndat = 120000;
//	Ndat = 100000;
//	Ndat = 50000;
};

system= {
	class= "pmsmDSctrl";
	params = "pmsm107@./cfg/zcu.cfg";
	tstep = 1; // steps for profile in [s]
//	profileW = [0, 10, 0, 2 ];
//	profileW = [0, 500, 1000, 1500, 2000, 2500, 3000 ];	
//	profileW = [0, -10, 30, 60, 90, 60, 30, 0, -30, -60, -30];
	profileW = [0, -1, 3, 6, 9, 6, 3, 0, 0, 0, 0, 0,0,-3, -6, -3];
//	profileW = [1, 10, 50, 200, 200, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
//	profileW = [1, 10, 50, 200, 200, 30, 1, 1, -1, -10, -50, -200, -200, -30, 0];
//	profileW = [250, 500, 750, 1000, 1250, 1500, 1750, 2000, 2250, 2500, 2750, 3000, 3000];
//	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];
};

UD = {class="EKF_UD";
	 IM = {class="IMpmsmStat";
		params = "pmsm107@./cfg/zcu.cfg";
	 };
	 OM = {class="OMpmsm";};
//	dQ=[0.1, 0.1, 0.1, 0.001]; ///???????????????
//	dQ=[0.1, 0.1, 10.01, 10.01];
	dQ=[0.1, 0.1, 0.1, 0.01];
	dR=[0.05, 0.05];
	 //connect
	 log_level="logmean,logU,logD,logC";
	 name = "Est0";
	 };

OT= {class="EKFfull";
	 IM = {class="IMpmsmOT";
		params = "pmsm107@./cfg/zcu.cfg";
	 };
	 name = "ekf";
	 OM = {class="OMpmsmOT";
		params = "pmsm107@./cfg/zcu.cfg";
	};
	dQ=[0.1, 0.01]; ///////// <====== OK
	dR=[0.5, 0.5];
	dP0=[0.1, 0.1];
	 //connect
	 log_level="logmean,logevidence,logbounds";
	 };

PF= {class = "PF";name="pf";
	  particle = {class ="BootstrapParticle";
		parameter_pdf = {class="mgnorm<ldmat>";
		  g={class="IMpmsmOT";
			params = "pmsm107@./cfg/zcu.cfg";
		  };
		  dR=[0.001,0.0001];
		  rv ={class="RV";names=("om","th");};
		  rvc ={class="RV";names=("om","th","o_ua","o_ub","o_ia","o_ib");times=[-1,-1,0,0,-1,-1];};
		};
		observation_pdf= {class="mgnorm<ldmat>";
		  g={class="OMpmsmOT";
			params = "pmsm107@./cfg/zcu.cfg";
		  }; 
		  dR=[0.5,0.5]; 
		  rv ={class="RV";names=("o_ia","o_ib");};
		  rvc = {class="RV";names=("om","th","o_ua","o_ub","o_ia","o_ib");times=[0,0,0,0,-1,-1];};
		};
	  };
	  n = 100;
	  log_level="logbounds,logmean";
	  prior = {class="euni";
		high = [ 0.1, 1.0];
		low = [ -0.1, -1.0];
		rv ={class="RV";names=("om","th");};
	  };
};

	 
	 
controllers=({
//		class = "PMSM_PICtrl";
//		class = "PMSM_LQCtrl";
//		class = "PMSM_LQCtrl_dq";
//		class = "PMSM_LQCtrl_dq2";
//		class = "PMSM_LQCtrl_bic";
//		class = "PMSM_LQCtrl_bic2";
		class = "PMSM_LQCtrl_bic3";
//		class = "PMSM_LQCtrl_EKF_Inj";			//biver legenda
		estim = "UD";							//  0 - nic navic
//		estim = "PF";							//  1 - signum
//		r = 0.0001;							//  2 - signum + casovy posun
		r = 0.001;							//  3 - 3 KF v dq		// 30 - pocita det misto varth
//		r = 0.04;								//  4 - 5 KF v albe 	// 40 - pocita det misto varth
		h = 10;								//  5 - konst v d
		MAXu = 400;							//  6 - injektaz do d
//		MAXu = 100;							//  7 - injektaz albe
		MAXuflag = 2;							//  8 - injektaz do d i do q
//		rpd = 0.1;							//  9 - nahodny vyber jako 5 KF
		rpd = 0.00417;							// 10 - postupne jako 5 KF
		bcbv = 6.0;							// 11 - injektaz albe round sin resp. cos
		//bcbv = 0.0;
		biver = 11;
		injkon = 6.0;
		injome = 16000.0;
//		injome = 500.0;
		injphi = 0.0;
		
		//multiple Kalman Q & R mat.
		Qred00 = 1.0;
		Qred11 = 1.0;
		Qred01 = 0.0;
		Qred10 = 0.0;
		Rred00 = 0.0;//00000001;
		Rred11 = 0.0;//00000001;
//		Rred01 = 0.0000000001;
//		Rred10 = 0.0000000001;
		
		// PI parametry
		PIw_Pd = 3.0;
		PIw_Pi = 0.0037;
		
		PIu_Pd = 20.0;
		PIu_Pi = 0.5;

		log_level = "logModel";
	}
);
	
logger= {
	class="dirfilelog";
	maxlen = 100;
//	dirname = "exp/ctrlPI";
//	dirname = "exp/ctrlLQ";
//	dirname = "exp/ctrlLQdq";
//	dirname = "exp/ctrlLQdq2";
//	dirname = "exp/ctrlLQbic";
//	dirname = "exp/ctrlLQbic2";
	dirname = "exp/ctrlLQbic3";
//	dirname = "exp/ctrlLQEKFInj";

};