%%
s = tf('s');
Ts = 1e-4; % [s]

%% Pre-Filter
% Glpf = 1/(1 + s/2/pi/2e3);
G_pf = 1/(1 + s/2/pi/50); % Used to excite with constant velocity
G_pf = c2d(G_pf, Ts, 'tustin');

%% Force Sensor Filter (HPF)
Gf_hpf = s/(s + 2*pi*2);
Gf_hpf = tf(1);
Gf_hpf = c2d(Gf_hpf, Ts, 'tustin');

%% IFF Controller
Kiff = 1/(s + 2*pi*2);
Kiff = c2d(Kiff, Ts, 'tustin');

%% Excitation Signal
Tsim = 180; % Excitation time + Measurement time [s]

t = 0:Ts:Tsim;
% u_exc = timeseries(chirp(t, 0.1, Tsim, 1e3, 'logarithmic'), t);
u_exc = timeseries(chirp(t, 40, Tsim, 400, 'logarithmic'), t);
u_exc = timeseries(y_v, t);