%%
clear; close all; clc;

%% Load System and Damped System
load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');

%% Load Configuration file
load('./mat/config.mat', 'save_fig', 'freqs');

%% New Plant damped
figure;
% Amplitude
ax1 = subplot(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC');
plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ');
set(gca,'ColorOrderIndex',1);
plot(freqs, abs(squeeze(freqresp(G_iff_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
plot(freqs, abs(squeeze(freqresp(G_iff_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend('Location', 'southwest');
hold off;
% Phase
ax2 = subplot(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '-');
plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '-');
set(gca,'ColorOrderIndex',1);
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
linkaxes([ax1,ax2],'x');
xlim([freqs(1) freqs(end)]);

if save_fig; exportFig('damping_comp_plant', 'normal-normal', struct('path', 'active_damping')); end

%% From xw to d
figure;
hold on;
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC');
plot(freqs, abs(squeeze(freqresp(G_light_pz.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ');
set(gca,'ColorOrderIndex',1);
plot(freqs, abs(squeeze(freqresp(G_iff_light_vc.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
plot(freqs, abs(squeeze(freqresp(G_iff_light_pz.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
hold off;
xlim([freqs(1) freqs(end)]);
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
legend('Location', 'southwest');

if save_fig; exportFig('damping_comp_xw', 'normal-normal', struct('path', 'active_damping')); end

%% From fi to d
figure;
hold on;
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC');
plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ');
set(gca,'ColorOrderIndex',1);
plot(freqs, abs(squeeze(freqresp(G_iff_light_vc.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
plot(freqs, abs(squeeze(freqresp(G_iff_light_pz.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
hold off;
xlim([freqs(1) freqs(end)]);
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
legend('Location', 'southwest');

if save_fig; exportFig('damping_comp_fi', 'normal-normal', struct('path', 'active_damping')); end