%% test_nhexa_1_suspended_table.m

%% Clear Workspace and Close figures
clear; close all; clc;

%% Intialize Laplace variable
s = zpk('s');

%% Path for functions, data and scripts
addpath('./mat/'); % Path for Data
addpath('./src/'); % Path for functions
addpath('./STEPS/'); % Path for STEPS
addpath('./subsystems/'); % Path for Subsystems Simulink files

%% Initialize Parameters for Simscape model
table_type = 'Rigid'; % On top of vibration table
device_type = 'None'; % On top of vibration table
payload_num = 0; % No Payload

% Simulink Model name
mdl = 'test_nhexa_simscape';

%% Colors for the figures
colors = colororder;

%% Frequency Vector
freqs = logspace(log10(10), log10(2e3), 1000);

%% Configure Simscape Model
table_type = 'Suspended'; % On top of vibration table
device_type = 'None'; % No device on the vibration table
payload_num = 0; % No Payload

%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/F'],      1, 'openinput');  io_i = io_i + 1;
io(io_i) = linio([mdl, '/F_v'],  1, 'openoutput'); io_i = io_i + 1;

%% Run the linearization
G = linearize(mdl, io);
G.InputName  = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
G.OutputName  = {'Vdx', 'Vdy', 'Vdz', 'Vrx', 'Vry', 'Vrz'};

%% Compute the resonance frequencies
ws = eig(G.A);
ws = ws(imag(ws) > 0);