// settings for pmsm_estim.cpp

experiment={
	ndat = 120000;
};

system= {
	class= "pmsmDS";
	params = "pmsm107@../cfg/zcu.cfg";
	tstep = 1; // steps for profile in [s]
//	profileW = [0, 1, 5, 10, 10, 3, 0, 0, -3, -3, -10, -10, -4, 0, 0];
	profileW = [1, 10, 50, 100, 100, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
	profileM = [0, 10, 0, 0, 10, 0, 0, 0, 0, 0, 10, 0, 0];
//	profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
};

estimator = (
	 {class="EKFfull";
	 IM = {class="IMpmsmMz";
		params = "pmsm107@../cfg/zcu.cfg";
	 };
	 OM = {class="OMpmsmRO";};
	dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1];
//	dQ=[0.05, 0.05, 0.001, 0.000001, 0.1]; ///////// <====== OK
//	dQ=[0.017, 0.017, 0.000004, 1e-8, 1e-1];
	dR=[90, 90];
	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=("o_ua","o_ub");};  // observed u
	 //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
	 rv = {class="RV"; names=("EKFMz_ia","EKFMz_ib","EKFMz_om","EKFMz_th","EKFMz_M");};
	 log_level="logmean,logevidence,logbounds";
	 } ,
	 {class="EKF_UD";
	 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=("o_ua","o_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";
	 }
);
	
logger= {
	class="dirfilelog";
	maxlen = 100;
	dirname = "exp/UKF";
};