// 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, 10, 3, 0, -3, -10, -10, 3, 0];
	profileM = [0, 10, 0, 0, 10, 0, 10, 0, 10, 0];
};

estimator = (
	 {type="EKF";
	 IM = {type="pmsmIM";
		params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
		variant = "Mz";
	 };
	 OM = {type="pmsmOM";};
	 dQ=[0.17, 0.17, 0.004, 1e-6, 1e-1];
	 dR=[0.025, 0.025];
	 dP0=[1., 1., 1., 1., 1e-2];
	 //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=["EKFMz"]; sizes=[5];};
	 options="logll";
	 },
				 //
	 {type="EKF";
	 IM = {type="pmsmIM";
		params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
		variant = "2o";
	 };
	 OM = {type="pmsmOM";};
	 dQ=[0.17, 0.17, 0.00004, 1e-8];
	 dR=[0.025, 0.025];
	 dP0=[1., 1., 1., 1.];
	 //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="logll";
	 },
				 				 //
	 {type="EKF";
	 IM = {type="pmsmIM";
		params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
		variant = "Stat";
	 };
	 OM = {type="pmsmOM";};
	 dQ=[0.17, 0.17, 0.004, 1e-5];
	 dR=[0.025, 0.025];
	 dP0=[1., 1., 1., 1.];
	 //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=["EKFw"]; sizes=[4];};
	 options="logll";
	 }


);
	
logger= {
	type="dirfilelog";
	maxlen = 1;
	dirname = "exp/Mz";
};