# settings for pmsm_estim.cpp

experiment={
	ndat = 90000;
};

system= {
	type = "pmsmDS";
	params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
	tstep = 1.0; // steps for profile in [s]
	profileW = [1, 5, 10, 30, 20, 40, 0];
	profileM = [0, 0, 0,  0, 0, 0, 0];
	opt = "modelu";
};

estimator = (
			 {type="EKF";
			 IM = {type="pmsmIM";
				params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
				variant = "2o";
			 };
			 OM = {type="pmsmOM";};
			 dQ=[0.013, 0.013, 0.155, 1e-6];
			 dR=[0.0001, 0.0001];
			 //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];};
			 options="logbounds";
			 },
				 ///////////
 			 {type="pmsmCRB";
			 IM = {type="pmsmIM";
				params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
				variant = "2o";// 2nd order Taylor
			 };
			 OM = {type="pmsmOM";};
			 dQ=[0.0013, 0.0013, 0.000155, 1e-11];
			 dR=[0.01, 0.01];
			 //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];};
			 }

);
	
logger= {
	type="dirfilelog";
	maxlen = 1000;
	dirname = "exp/pwm";
};