Change the way control is generated. Add script to test control

src/identifyGd.m

@@ -0,0 +1,39 @@
+function [Gd, Gd_raw] = identifyGd(opts_param)
+    %% Default values for opts
+    opts = struct('cl',  true,  ... % CL or OL
+                  'f_low',  0.1,  ...
+                  'f_high', 10000 ...
+    );
+
+    %% Populate opts with input parameters
+    if exist('opts_param','var')
+        for opt = fieldnames(opts_param)'
+            opts.(opt{1}) = opts_param.(opt{1});
+        end
+    end
+
+    %% Options for Linearized
+    options = linearizeOptions;
+    options.SampleTime = 0;
+
+    %% Name of the Simulink File
+    if opts.cl
+        mdl = 'Assemblage';
+    else
+        mdl = 'Micro_Station_Identification';
+    end
+
+    %% Centralized control (Cartesian coordinates)
+    % Input/Output definition
+    io(1) = linio([mdl, '/Micro-Station/Gm'],    1,'input');
+    io(2) = linio([mdl, '/Micro-Station/Sample'],1,'output');
+
+    % Run the linearization
+    Gd_raw = linearize(mdl,io, 0);
+    Gd_raw.InputName  = {'Dgx', 'Dgy', 'Dgz'};
+    Gd_raw.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
+    
+    Gd = preprocessIdTf(Gd_raw, opts.f_low, opts.f_high);
+    Gd.InputName  = {'Dgx', 'Dgy', 'Dgz'};
+    Gd.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
+end