%%
clear; close all; clc;

%% Load
load('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn')

%%
bodeFig({G_vert_init.G_dleg(1, 1), ...
         G_vert_init.G_dleg(2, 2), ...
         G_vert_init.G_dleg(3, 3), ...
         G_vert_init.G_dleg(4, 4), ...
         G_vert_init.G_dleg(5, 5), ...
         G_vert_init.G_dleg(6, 6)}, struct('phase', true));
xlim([1, 500]);

%%
bodeFig({G_vert_init.G_dleg(1, 1), ...
         G_vert_turn.G_dleg(1, 1),}, struct('phase', true));
xlim([1, 500]);

%%
bodeFig({G_vert_init.G_dleg(1, 1), ...
         G_tilt_init.G_dleg(1, 1),}, struct('phase', true));
xlim([1, 500]);