commit d6e261a6bc826b744174159f7a4f823b8b700b0e
Author: Operator Cad <OPCAD@ESRF.FR>
Date:   Fri Oct 23 11:20:12 2020 +0200

    initial commit

diff --git a/.gitignore b/.gitignore
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+# Windows default autosave extension
+*.asv
+*rtw/
+test_enc**.m
+data/
+
+# OSX / *nix default autosave extension
+*.m~
+
+# Compiled MEX binaries (all platforms)
+*.mex*
+
+# Packaged app and toolbox files
+*.mlappinstall
+*.slxc
+*.mldatx
+*.mltbx
+*.xml
+piezoapa_slrt_rtw/
+
+# Generated helpsearch folders
+helpsearch*/
+
+# Simulink code generation folders
+slprj/
+sccprj/
+
+# Matlab code generation folders
+codegen/
+
+# Simulink autosave extension
+*.autosave
+
+# Simulink cache files
+*.slxc
+
+# Octave session info
+octave-workspace
diff --git a/mat/int_enc_comp.mat b/mat/int_enc_comp.mat
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index 0000000..692a457
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diff --git a/mat/int_enc_huddle_test.mat b/mat/int_enc_huddle_test.mat
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index 0000000..bafcba2
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diff --git a/matlab/sensor_fusion_analysis.m b/matlab/sensor_fusion_analysis.m
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+++ b/matlab/sensor_fusion_analysis.m
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+
+%% Huddle Test
+ht = load('./mat/huddle_test.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
+
+% Detrend Data
+ht.d = detrend(ht.d, 0);
+ht.acc_1 = detrend(ht.acc_1, 0);
+ht.acc_2 = detrend(ht.acc_2, 0);
+ht.geo_1 = detrend(ht.geo_1, 0);
+ht.geo_2 = detrend(ht.geo_2, 0);
+ht.f_meas = detrend(ht.f_meas, 0);
+
+% Compute PSD
+run setup;
+
+win = hann(ceil(10/Ts));
+
+[p_d, f] = pwelch(ht.d, win, [], [], 1/Ts);
+[p_acc1, ~] = pwelch(ht.acc_1, win, [], [], 1/Ts);
+[p_acc2, ~] = pwelch(ht.acc_2, win, [], [], 1/Ts);
+[p_geo1, ~] = pwelch(ht.geo_1, win, [], [], 1/Ts);
+[p_geo2, ~] = pwelch(ht.geo_2, win, [], [], 1/Ts);
+[p_fmeas, ~] = pwelch(ht.f_meas, win, [], [], 1/Ts);
+
+% Plot PSD
+figure;
+hold on;
+plot(f, p_acc1);
+plot(f, p_acc2);
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('PSD [$V^2/Hz$]'); xlabel('Frequency [Hz]');
+title('Huddle Test - Accelerometers')
+
+figure;
+hold on;
+plot(f, p_geo1);
+plot(f, p_geo2);
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('PSD [$V^2/Hz$]'); xlabel('Frequency [Hz]');
+title('Huddle Test - Geophones')
+
+figure;
+hold on;
+plot(f, p_d);
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('PSD [$m^2/Hz$]'); xlabel('Frequency [Hz]');
+title('Huddle Test - Interferometers')
+
+figure;
+hold on;
+plot(f, p_fmeas);
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('PSD [$V^2/Hz$]'); xlabel('Frequency [Hz]');
+title('Huddle Test - Force Sensor')
+
+%% Accelerometer and Geophone Models
+% Accelerometer used: https://www.pcb.com/products?model=393B05
+% Geophone used: L22 https://www.sercel.com/products/Lists/ProductSpecification/Geophones_brochure_Sercel_EN.pdf
+
+G_acc = 1/(1 + s/2/pi/2500); % [V/(m/s2)]
+G_geo = 120*s^2/(s^2 + 2*0.7*2*pi*2*s + (2*pi*2)^2); % [[V/(m/s)]
+
+% PSD of intertial sensors in [m^2/Hz]
+figure;
+hold on;
+set(gca, 'ColorOrderIndex', 1);
+plot(f, sqrt(p_acc1)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
+    'DisplayName', 'Accelerometer');
+set(gca, 'ColorOrderIndex', 1);
+plot(f, sqrt(p_acc2)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
+    'HandleVisibility', 'off');
+set(gca, 'ColorOrderIndex', 2);
+plot(f, sqrt(p_geo1)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
+    'DisplayName', 'Geophone');
+set(gca, 'ColorOrderIndex', 2);
+plot(f, sqrt(p_geo2)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
+    'HandleVisibility', 'off');
+set(gca, 'ColorOrderIndex', 3);
+plot(f, sqrt(p_d), 'DisplayName', 'Interferometer');
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('ASD [$m/\sqrt{Hz}$]'); xlabel('Frequency [Hz]');
+title('Huddle Test')
+legend();
+
+%% Compare Theoretical model with identified one
+id_ol = load('./mat/identification_noise_bis.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
+
+% Detrend Data
+id_ol.d = detrend(id_ol.d, 0);
+id_ol.acc_1 = detrend(id_ol.acc_1, 0);
+id_ol.acc_2 = detrend(id_ol.acc_2, 0);
+id_ol.geo_1 = detrend(id_ol.geo_1, 0);
+id_ol.geo_2 = detrend(id_ol.geo_2, 0);
+id_ol.f_meas = detrend(id_ol.f_meas, 0);
+id_ol.u = detrend(id_ol.u, 0);
+
+% Identification Parameters
+run setup;
+win = hann(ceil(10/Ts));
+
+% IFF Plant
+[tf_fmeas_est, f] = tfestimate(id_ol.u, id_ol.f_meas, win, [], [], 1/Ts); % [V/m]
+[co_fmeas_est, ~] = mscohere(id_ol.u, id_ol.f_meas, win, [], [], 1/Ts);
+
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(tf_fmeas_est), '-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, 180/pi*angle(tf_fmeas_est), '-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+xlim([40, 400]);
+
+% Geophones
+[tf_geo1_est, ~] = tfestimate(id_ol.d, id_ol.geo_1, win, [], [], 1/Ts); % [V/m]
+[co_geo1_est, ~] = mscohere(id_ol.d, id_ol.geo_1, win, [], [], 1/Ts);
+
+[tf_geo2_est, ~] = tfestimate(id_ol.d, id_ol.geo_2, win, [], [], 1/Ts); % [V/m]
+[co_geo2_est, ~] = mscohere(id_ol.d, id_ol.geo_2, win, [], [], 1/Ts);
+
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+set(gca, 'ColorOrderIndex', 1);
+plot(f, abs(tf_geo1_est), '.')
+set(gca, 'ColorOrderIndex', 1);
+plot(f, abs(tf_geo2_est), '.')
+plot(f, abs(squeeze(freqresp(G_geo, f, 'Hz')).*(1i*2*pi*f)), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+set(gca, 'ColorOrderIndex', 1);
+plot(f, 180/pi*angle(tf_geo1_est), '.')
+set(gca, 'ColorOrderIndex', 1);
+plot(f, 180/pi*angle(tf_geo2_est), '.')
+plot(f, 180/pi*angle(-squeeze(freqresp(G_geo, f, 'Hz')).*(1i*2*pi*f)), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+xlim([40, 400]);
+
+% Accelerometers
+[tf_acc1_est, ~] = tfestimate(id_ol.d, id_ol.acc_1, win, [], [], 1/Ts); % [V/m]
+[co_acc1_est, ~] = mscohere(id_ol.d, id_ol.acc_1, win, [], [], 1/Ts);
+
+[tf_acc2_est, ~] = tfestimate(id_ol.d, id_ol.acc_2, win, [], [], 1/Ts); % [V/m]
+[co_acc2_est, ~] = mscohere(id_ol.d, id_ol.acc_2, win, [], [], 1/Ts);
+
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+set(gca, 'ColorOrderIndex', 1);
+plot(f, abs(tf_acc1_est), '.')
+set(gca, 'ColorOrderIndex', 1);
+plot(f, abs(tf_acc2_est), '.')
+plot(f, abs(squeeze(freqresp(G_acc, f, 'Hz')).*(1i*2*pi*f).^2), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+set(gca, 'ColorOrderIndex', 1);
+plot(f, 180/pi*angle(tf_acc1_est), '.')
+set(gca, 'ColorOrderIndex', 1);
+plot(f, 180/pi*angle(tf_acc2_est), '.')
+plot(f, 180/pi*angle(squeeze(freqresp(G_acc, f, 'Hz')).*(1i*2*pi*f).^2), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+xlim([40, 400]);
+
+
+
+%% IFF development
+[tf_fmeas_est, f] = tfestimate(id_ol.u, id_ol.f_meas, win, [], [], 1/Ts); % [V/m]
+[co_fmeas_est, ~] = mscohere(id_ol.u, id_ol.f_meas, win, [], [], 1/Ts);
+
+% Model
+wz = 2*pi*103;
+xi_z = 0.01;
+wp = 2*pi*238;
+xi_p = 0.015;
+
+Giff = 20*(s^2 + 2*xi_z*s*wz + wz^2)/(s^2 + 2*xi_p*s*wp + wp^2)*(s/3/pi/(1 + s/3/pi));
+
+% Comparison model and identification
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(tf_fmeas_est), '.')
+plot(f, abs(squeeze(freqresp(Giff, f, 'Hz'))), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, 180/pi*angle(tf_fmeas_est), '.')
+plot(f, 180/pi*angle(squeeze(freqresp(Giff, f, 'Hz'))), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+xlim([40, 400]);
+
+% Root Locus
+gains = logspace(0, 5, 1000);
+
+figure;
+hold on;
+plot(real(pole(Giff)),  imag(pole(Giff)),  'kx');
+plot(real(tzero(Giff)),  imag(tzero(Giff)),  'ko');
+for i = 1:length(gains)
+    cl_poles = pole(feedback(Giff, gains(i)/(s + 2*pi*2)));
+    plot(real(cl_poles), imag(cl_poles), 'k.');
+end
+ylim([0, 1800]);
+xlim([-1600,200]); 
+xlabel('Real Part')
+ylabel('Imaginary Part')
+axis square
+    
+% Optimal Controller
+Kiff_opt = 110/(s + 2*pi*2);
+
+%% New identification 
+id_ol = load('./mat/identification_chirp_40_400.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
+id_cl = load('./mat/identification_chirp_40_400_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
+
+% Used controller
+Kiff = -110/(s + 2*pi*2);
+
+[tf_G_ol_est, f] = tfestimate(id_ol.u, id_ol.d, win, [], [], 1/Ts);
+[co_G_ol_est, ~] = mscohere(id_ol.u, id_ol.d, win, [], [], 1/Ts);
+[tf_G_cl_est, ~] = tfestimate(id_cl.u, id_cl.d, win, [], [], 1/Ts);
+[co_G_cl_est, ~] = mscohere(id_cl.u, id_cl.d, win, [], [], 1/Ts);
+
+figure;
+hold on;
+plot(f, co_G_ol_est, '-')
+plot(f, co_G_cl_est, '-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Coherence'); xlabel('Frequency [Hz]');
+hold off;
+xlim([40, 400]); ylim([0, 1])
+
+% Comparison model and identification
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(tf_G_ol_est), '-')
+plot(f, abs(tf_G_cl_est), '-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, 180/pi*angle(tf_G_ol_est), '-')
+plot(f, 180/pi*angle(tf_G_cl_est), '-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+xlim([40, 400]);
+
+
+%% Excitation Signal
+run setup;
+
+% Get trasnfer function from input [V] to output displacement [m]
+id_cl = load('./mat/identification_noise_iff_bis.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
+
+win = hann(ceil(10/Ts));
+
+[tf_G_cl_est, f] = tfestimate(id_cl.u, id_cl.d, win, [], [], 1/Ts);
+[co_G_cl_est, ~] = mscohere(id_cl.u, id_cl.d, win, [], [], 1/Ts);
+
+G_d_est = -5e-6*(2*pi*230)^2/(s^2 + 2*0.3*2*pi*240*s + (2*pi*240)^2);
+
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(tf_G_cl_est), '-')
+plot(f, abs(squeeze(freqresp(G_d_est, f, 'Hz'))), '--')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude [m/V]'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, 180/pi*angle(tf_G_cl_est), '-')
+plot(f, 180/pi*angle(squeeze(freqresp(G_d_est, f, 'Hz'))), '--')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+xlim([10, 1000]);
+
+%
+ht = load('./mat/huddle_test.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
+
+ht.d = detrend(ht.d, 0);
+ht.acc_1 = detrend(ht.acc_1, 0);
+ht.acc_2 = detrend(ht.acc_2, 0);
+ht.geo_1 = detrend(ht.geo_1, 0);
+ht.geo_2 = detrend(ht.geo_2, 0);
+
+win = hann(ceil(10/Ts));
+
+[p_d, f] = pwelch(ht.d, win, [], [], 1/Ts);
+[p_acc1, ~] = pwelch(ht.acc_1, win, [], [], 1/Ts);
+[p_acc2, ~] = pwelch(ht.acc_2, win, [], [], 1/Ts);
+[p_geo1, ~] = pwelch(ht.geo_1, win, [], [], 1/Ts);
+[p_geo2, ~] = pwelch(ht.geo_2, win, [], [], 1/Ts);
+
+% Generate Time domain signal with wanted PSD
+Fs = 1/Ts; % Sampling Frequency [Hz]
+
+t = 0:Ts:180; % Time Vector [s]
+u = sqrt(Fs/2)*randn(length(t), 1); % Signal with an ASD equal to one
+
+G_exc = 0.2e-6/(1 + s/2/pi/2)/(1 + s/2/pi/50);
+
+y_d = lsim(G_exc, u, t);
+
+[pxx, ~] = pwelch(y_d, win, 0, [], Fs);
+
+figure;
+hold on;
+set(gca, 'ColorOrderIndex', 1);
+plot(f, sqrt(p_acc1)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
+    'DisplayName', 'Accelerometer');
+set(gca, 'ColorOrderIndex', 1);
+plot(f, sqrt(p_acc2)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
+    'HandleVisibility', 'off');
+set(gca, 'ColorOrderIndex', 2);
+plot(f, sqrt(p_geo1)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
+    'DisplayName', 'Geophone');
+set(gca, 'ColorOrderIndex', 2);
+plot(f, sqrt(p_geo2)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
+    'HandleVisibility', 'off');
+plot(f, sqrt(pxx), 'k-', ...
+    'DisplayName', 'Excitation');
+set(gca, 'ColorOrderIndex', 3);
+plot(f, sqrt(p_d), 'DisplayName', 'Interferometer');
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('ASD [$m/\sqrt{Hz}$]'); xlabel('Frequency [Hz]');
+title('Huddle Test')
+legend();
+
+% From displacement to Voltage
+y_v = lsim(G_exc*(1 + s/2/pi/50)/G_d_est/(1 + s/2/pi/5e3), u, t);
+figure; plot(t, y_v)
+figure; plot(t, lsim(G_pf, y_v, t))
+
+%% Transfer function of inertial sensors
+load('./mat/identification_noise_opt_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+%% Estimation of the inertial sensor transfer functions
+id = load('./mat/identification_noise_opt_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
+ht = load('./mat/huddle_test.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
+
+ht.d = detrend(ht.d, 0);
+ht.acc_1 = detrend(ht.acc_1, 0);
+ht.acc_2 = detrend(ht.acc_2, 0);
+ht.geo_1 = detrend(ht.geo_1, 0);
+ht.geo_2 = detrend(ht.geo_2, 0);
+ht.f_meas = detrend(ht.f_meas, 0);
+
+id.d = detrend(id.d, 0);
+id.acc_1 = detrend(id.acc_1, 0);
+id.acc_2 = detrend(id.acc_2, 0);
+id.geo_1 = detrend(id.geo_1, 0);
+id.geo_2 = detrend(id.geo_2, 0);
+id.f_meas = detrend(id.f_meas, 0);
+
+% Compare PSD
+run setup;
+win = hann(ceil(10/Ts));
+
+[p_id_d, f] = pwelch(id.d, win, [], [], 1/Ts);
+[p_id_acc1, ~] = pwelch(id.acc_1, win, [], [], 1/Ts);
+[p_id_acc2, ~] = pwelch(id.acc_2, win, [], [], 1/Ts);
+[p_id_geo1, ~] = pwelch(id.geo_1, win, [], [], 1/Ts);
+[p_id_geo2, ~] = pwelch(id.geo_2, win, [], [], 1/Ts);
+[p_id_fmeas, ~] = pwelch(id.f_meas, win, [], [], 1/Ts);
+
+[p_ht_d, ~] = pwelch(ht.d, win, [], [], 1/Ts);
+[p_ht_acc1, ~] = pwelch(ht.acc_1, win, [], [], 1/Ts);
+[p_ht_acc2, ~] = pwelch(ht.acc_2, win, [], [], 1/Ts);
+[p_ht_geo1, ~] = pwelch(ht.geo_1, win, [], [], 1/Ts);
+[p_ht_geo2, ~] = pwelch(ht.geo_2, win, [], [], 1/Ts);
+[p_ht_fmeas, ~] = pwelch(ht.f_meas, win, [], [], 1/Ts);
+
+figure;
+hold on;
+set(gca, 'ColorOrderIndex', 1);
+plot(f, p_ht_acc1, 'DisplayName', 'Huddle Test');
+set(gca, 'ColorOrderIndex', 1);
+plot(f, p_ht_acc2, 'HandleVisibility',  'off');
+set(gca, 'ColorOrderIndex', 2);
+plot(f, p_id_acc1, 'DisplayName', 'Identification Test');
+set(gca, 'ColorOrderIndex', 2);
+plot(f, p_id_acc2, 'HandleVisibility',  'off');
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('PSD [$V^2/Hz$]'); xlabel('Frequency [Hz]');
+title('Huddle Test - Accelerometers')
+legend();
+
+figure;
+hold on;
+set(gca, 'ColorOrderIndex', 1);
+plot(f, p_ht_geo1, 'DisplayName', 'Huddle Test');
+set(gca, 'ColorOrderIndex', 1);
+plot(f, p_ht_geo2, 'HandleVisibility',  'off');
+set(gca, 'ColorOrderIndex', 2);
+plot(f, p_id_geo1, 'DisplayName', 'Identification Test');
+set(gca, 'ColorOrderIndex', 2);
+plot(f, p_id_geo2, 'HandleVisibility',  'off');
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('PSD [$V^2/Hz$]'); xlabel('Frequency [Hz]');
+title('Huddle Test - Geophones')
+legend();
+
+figure;
+hold on;
+plot(f, p_ht_d, 'DisplayName', 'Huddle Test');
+plot(f, p_id_d, 'DisplayName', 'Identification Test');
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('PSD [$m^2/Hz$]'); xlabel('Frequency [Hz]');
+title('Huddle Test - Interferometers')
+legend();
+
+% tf and coh computation
+[tf_acc1_est, f] = tfestimate(id.d, id.acc_1, win, [], [], 1/Ts);
+[co_acc1_est, ~] = mscohere(id.d, id.acc_1, win, [], [], 1/Ts);
+[tf_acc2_est, ~] = tfestimate(id.d, id.acc_2, win, [], [], 1/Ts);
+[co_acc2_est, ~] = mscohere(id.d, id.acc_2, win, [], [], 1/Ts);
+
+[tf_geo1_est, ~] = tfestimate(id.d, id.geo_1, win, [], [], 1/Ts);
+[co_geo1_est, ~] = mscohere(id.d, id.geo_1, win, [], [], 1/Ts);
+[tf_geo2_est, ~] = tfestimate(id.d, id.geo_2, win, [], [], 1/Ts);
+[co_geo2_est, ~] = mscohere(id.d, id.geo_2, win, [], [], 1/Ts);
+
+% Coherence
+figure;
+hold on;
+set(gca, 'ColorOrderIndex', 1);
+plot(f, co_acc1_est, '-', 'DisplayName', 'Accelerometer')
+set(gca, 'ColorOrderIndex', 1);
+plot(f, co_acc2_est, '-',  'HandleVisibility', 'off')
+set(gca, 'ColorOrderIndex', 2);
+plot(f, co_geo1_est, '-', 'DisplayName', 'Geophone')
+set(gca, 'ColorOrderIndex', 2);
+plot(f, co_geo2_est, '-',  'HandleVisibility', 'off')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Coherence'); xlabel('Frequency [Hz]');
+hold off;
+xlim([2, 2e3]); ylim([0, 1])
+legend();
+
+% Models
+G_acc = 1/(1 + s/2/pi/2500); % [V/(m/s2)]
+G_geo = -1200*s^2/(s^2 + 2*0.7*2*pi*2*s + (2*pi*2)^2); % [[V/(m/s)]
+
+
+% Transfer Functions
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(tf_acc1_est./(1i*2*pi*f).^2), '-')
+plot(f, abs(tf_acc2_est./(1i*2*pi*f).^2), '-')
+plot(f, abs(squeeze(freqresp(G_acc, f, 'Hz'))), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude [V/(m/s^2)]'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, 180/pi*angle(tf_acc1_est./(1i*2*pi*f).^2), '-')
+plot(f, 180/pi*angle(tf_acc2_est./(1i*2*pi*f).^2), '-')
+plot(f, 180/pi*angle(squeeze(freqresp(G_acc, f, 'Hz'))), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+xlim([2, 2e3]);
+
+
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(tf_geo1_est./(1i*2*pi*f)), '-')
+plot(f, abs(tf_geo2_est./(1i*2*pi*f)), '-')
+plot(f, abs(squeeze(freqresp(G_geo, f, 'Hz'))), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude[V/(m/s)]'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, 180/pi*angle(tf_geo1_est./(1i*2*pi*f)), '-')
+plot(f, 180/pi*angle(tf_geo2_est./(1i*2*pi*f)), '-')
+plot(f, 180/pi*angle(squeeze(freqresp(G_geo, f, 'Hz'))), 'k-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+xlim([0.5, 2e3]);
+
+
+%% Compare signal
+
+id.acc_1 = detrend(id.acc_1, 0);
+id.acc_2 = detrend(id.acc_2, 0);
+id.geo_1 = detrend(id.geo_1, 0);
+id.geo_2 = detrend(id.geo_2, 0);
+id.d = detrend(id.d, 0);
+
+G_acc = 1/(1 + s/2/pi/2500); % [V/(m/s2)]
+G_geo = -1200*s^2/(s^2 + 2*0.7*2*pi*2*s + (2*pi*2)^2); % [V/(m/s)]
+
+G_hpf = (s/2/pi/2)/(1 + s/2/pi/2);
+
+acc1_d = lsim(G_hpf*1/G_acc/(s + 2*pi)^2, id.acc_1, id.t);
+acc2_d = lsim(G_hpf*1/G_acc/(s + 2*pi)^2, id.acc_2, id.t);
+geo1_d = lsim(G_hpf*1/G_geo/(s + 2*pi), id.geo_1, id.t);
+geo2_d = lsim(G_hpf*1/G_geo/(s + 2*pi), id.geo_2, id.t);
+
+figure;
+hold on;
+plot(id.t, id.d);
+plot(id.t, acc1_d);
+plot(id.t, acc2_d);
+plot(id.t, geo1_d);
+plot(id.t, geo2_d);
+hold off;
+xlabel('Time [s]'); ylabel('Displacement [m]');
+
+% Fusion
+wc = 2*pi*200;
+G_hpf = (s/wc)/(1 + s/wc);
+G_lpf = 1/(1 + s/wc);
+
+ss_d = lsim(G_hpf, acc1_d, id.t) + lsim(G_lpf, geo1_d, id.t);
+
+figure;
+hold on;
+plot(id.t, id.d);
+plot(id.t, ss_d);
+hold off;
+xlabel('Time [s]'); ylabel('Displacement [m]');
+
+
+
+
diff --git a/runtest.m b/runtest.m
new file mode 100644
index 0000000..1ab91d7
--- /dev/null
+++ b/runtest.m
@@ -0,0 +1,128 @@
+tg = slrt;
+
+%%
+f = SimulinkRealTime.openFTP(tg);
+mget(f, 'int_enc.dat', 'data');
+close(f);
+
+%% Convert the Data
+data = SimulinkRealTime.utils.getFileScopeData('data/int_enc.dat').data;
+
+interferometer = data(:, 1);
+encoder = data(:, 2);
+u = data(:, 3);
+t = data(:, 4);
+
+save('./mat/int_enc_comp.mat', 'interferometer', 'encoder', 'u' , 't');
+
+%%
+interferometer = detrend(interferometer, 0);
+encoder = detrend(encoder, 0);
+
+%%
+run setup;
+
+win = hann(ceil(10/Ts));
+
+[p_i, f] = pwelch(interferometer, win, [], [], 1/Ts);
+[p_e, ~] = pwelch(encoder, win, [], [], 1/Ts);
+
+%%
+figure;
+hold on;
+plot(f, sqrt(p_i), 'DisplayName', 'Interferometer');
+plot(f, sqrt(p_e), 'DisplayName', 'Encoder');
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('ASD [$m/\sqrt{Hz}$]'); xlabel('Frequency [Hz]');
+grid;
+legend('location', 'northeast');
+
+%%
+run setup;
+
+win = hann(ceil(10/Ts));
+
+[tf_geo1_est, f] = tfestimate(d, geo_1, win, [], [], 1/Ts);
+[co_geo1_est, ~] = mscohere(d, geo_1, win, [], [], 1/Ts);
+
+[tf_geo2_est, ~] = tfestimate(d, geo_2, win, [], [], 1/Ts);
+[co_geo2_est, ~] = mscohere(d, geo_2, win, [], [], 1/Ts);
+
+[tf_acc1_est, ~] = tfestimate(d, encoder, win, [], [], 1/Ts);
+[co_acc1_est, ~] = mscohere(d, encoder, win, [], [], 1/Ts);
+
+[tf_acc2_est, ~] = tfestimate(d, acc_2, win, [], [], 1/Ts);
+[co_acc2_est, ~] = mscohere(d, acc_2, win, [], [], 1/Ts);
+
+%%
+figure;
+
+hold on;
+plot(f, co_geo1_est, '-')
+plot(f, co_geo2_est, '-')
+plot(f, co_acc1_est, '-')
+plot(f, co_acc2_est, '-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Coherence'); xlabel('Frequency [Hz]');
+hold off;
+
+%%
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(tf_geo1_est), '-', 'DisplayName', 'Geo1')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, 180/pi*unwrap(angle(tf_geo1_est)), '-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+
+%%
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(tf_acc1_est), '-', 'DisplayName', 'Acc1')
+plot(f, abs(tf_acc2_est), '-', 'DisplayName', 'Acc2')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('Amplitude'); xlabel('Frequency [Hz]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, 180/pi*unwrap(angle(tf_acc1_est)), '-')
+plot(f, 180/pi*unwrap(angle(tf_acc2_est)), '-')
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
+ylabel('Phase'); xlabel('Frequency [Hz]');
+hold off;
+
+linkaxes([ax1,ax2], 'x');
+
+%%
+win = hann(ceil(10/Ts));
+
+[p_acc_1, f] = pwelch(encoder, win, [], [], 1/Ts);
+[co_acc12, ~] = mscohere(encoder, acc_2, win, [], [], 1/Ts);
+
+[p_geo_1, ~] = pwelch(geo_1, win, [], [], 1/Ts);
+[co_geo12, ~] = mscohere(geo_1, geo_2, win, [], [], 1/Ts);
+
+p_acc_N = p_acc_1.*(1 - co_acc12);
+p_geo_N = p_geo_1.*(1 - co_geo12);
+
+
+figure;
+hold on;
+plot(f, sqrt(p_acc_N)./abs(tf_acc1_est));
+plot(f, sqrt(p_geo_N)./abs(tf_geo1_est));
+hold off;
+set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
+ylabel('PSD'); xlabel('Frequency [Hz]');
+
diff --git a/setup.m b/setup.m
new file mode 100644
index 0000000..717af62
--- /dev/null
+++ b/setup.m
@@ -0,0 +1,24 @@
+%%
+s = tf('s');
+Ts = 1e-4; % [s]
+
+%% Pre-Filter
+G_pf = 1/(1 + s/2/pi/10);
+G_pf = c2d(G_pf, Ts, 'tustin');
+
+% %% Force Sensor Filter (HPF)
+% Gf_hpf = s/(s + 2*pi*2);
+% Gf_hpf = tf(1);
+% Gf_hpf = c2d(Gf_hpf, Ts, 'tustin');
+% 
+% %% IFF Controller
+% Kiff = 1/(s + 2*pi*2);
+% Kiff = c2d(Kiff, Ts, 'tustin');
+% 
+% %% Excitation Signal
+% Tsim = 180; % Excitation time + Measurement time [s]
+% 
+% t = 0:Ts:Tsim;
+% % u_exc = timeseries(chirp(t, 0.1, Tsim, 1e3, 'logarithmic'), t);
+% u_exc = timeseries(chirp(t, 40, Tsim, 400, 'logarithmic'), t);
+% % u_exc = timeseries(y_v, t);
\ No newline at end of file
diff --git a/speedgoat_IO318_100k_CI_01585.mat b/speedgoat_IO318_100k_CI_01585.mat
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index 0000000..094402c
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diff --git a/test_encoder.slx b/test_encoder.slx
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