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

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

open('active_damping_uniaxial/matlab/sim_nano_station_id.slx')

initializeReferences();
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod('actuator', 'piezo');
initializeSample('mass', 50);

K = tf(zeros(6));
save('./mat/controllers.mat', 'K', '-append');
K_iff = tf(zeros(6));
save('./mat/controllers.mat', 'K_iff', '-append');
K_rmc = tf(zeros(6));
save('./mat/controllers.mat', 'K_rmc', '-append');
K_dvf = tf(zeros(6));
save('./mat/controllers.mat', 'K_dvf', '-append');

G = identifyPlant();

save('./active_damping_uniaxial/mat/plants.mat', 'G', '-append');

freqs = logspace(0, 3, 1000);

figure;

subplot(2, 1, 1);
title('$D_g$ to $D$');
hold on;
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / D_{g,x}\right|$');
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / D_{g,y}\right|$');
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / D_{g,z}\right|$');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
legend('location', 'southeast');

subplot(2, 1, 2);
title('$F_s$ to $D$');
hold on;
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{s,x}\right|$');
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{s,y}\right|$');
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{s,z}\right|$');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
legend('location', 'northeast');

freqs = logspace(0, 3, 1000);

figure;
hold on;
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{rz, z}\right|$');
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{ty, z}\right|$');
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{ty, x}\right|$');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
legend('location', 'northeast');

freqs = logspace(0, 3, 1000);

figure;

ax1 = subplot(2, 1, 1);
hold on;
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);

ax2 = subplot(2, 1, 2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', '$D_x / F_x$');
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))), 'DisplayName', '$D_y / F_y$');
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', '$D_z / F_z$');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
legend('location', 'southwest');

linkaxes([ax1,ax2],'x');