function [] = initializeController(args)

arguments
  args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop'
end

controller = struct();

switch args.type
  case 'open-loop'
    controller.type = 1;
    controller.name = 'Open-Loop';
  case 'dvf'
    controller.type = 2;
    controller.name = 'Decentralized Direct Velocity Feedback';
  case 'iff'
    controller.type = 3;
    controller.name = 'Decentralized Integral Force Feedback';
  case 'hac-dvf'
    controller.type = 4;
    controller.name = 'HAC-DVF';
  case 'ref-track-L'
    controller.type = 5;
    controller.name = 'Reference Tracking in the frame of the legs';
  case 'ref-track-iff-L'
    controller.type = 6;
    controller.name = 'Reference Tracking in the frame of the legs + IFF';
  case 'cascade-hac-lac'
    controller.type = 7;
    controller.name = 'Cascade Control + HAC-LAC';
  case 'hac-iff'
    controller.type = 8;
    controller.name = 'HAC-IFF';
  case 'stabilizing'
    controller.type = 9;
    controller.name = 'Stabilizing Controller';
end

save('./mat/controller.mat', 'controller');