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

%% Pre-Filter
G_pf = 1/(1 + s/2/pi/20);
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 = 100; % Excitation time + Measurement time [s]

t = 0:Ts:Tsim;
u_exc = timeseries(chirp(t, 10, Tsim, 40, 'logarithmic'), t);
% u_exc = timeseries(y_v, t);