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'})} = 'open-loop'
end

controller = struct();

switch args.type
  case 'open-loop'
    controller.type = 1;
  case 'dvf'
    controller.type = 2;
  case 'iff'
    controller.type = 3;
  case 'hac-dvf'
    controller.type = 4;
  case 'ref-track-L'
    controller.type = 5;
  case 'ref-track-iff-L'
    controller.type = 6;
  case 'cascade-hac-lac'
    controller.type = 7;
end

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