%% Script Description
% 
%%
clear;
close all;
clc

%% Define options for bode plots
bode_opts = bodeoptions;

bode_opts.Title.FontSize  = 12;
bode_opts.XLabel.FontSize = 12;
bode_opts.YLabel.FontSize = 12;
bode_opts.FreqUnits       = 'Hz';
bode_opts.MagUnits        = 'abs';
bode_opts.MagScale        = 'log';
bode_opts.PhaseWrapping   = 'on';
bode_opts.PhaseVisible    = 'on';

%% Options for preprocessing the identified transfer functions
f_low = 10;
f_high = 1000;

%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;

%% Name of the Simulink File
mdl = 'Assemblage';

%% Y-Translation Stage
% Input/Output definition
io(1) = linio([mdl, '/Fnass_cart'],1,'input');
io(2) = linio([mdl, '/Sample'],1,'output');

% Run the linearization
G_f_to_d = linearize(mdl,io, 0);

% Input/Output names
G_f_to_d.InputName  = {'Fy'};
G_f_to_d.OutputName = {'Dy'};

% Bode Plot of the linearized function
figure;
bode(G_f_to_d(2, 2), bode_opts)

%%
save('../mat/G_f_to_d.mat', 'G_f_to_d');