run('identif_setup.m');

%%
Kiff_g1 = (1/(s + 2*pi*40))*... % Low pass filter (provides integral action above 40Hz)
          (s/(s + 2*pi*30))*... % High pass filter to limit low frequency gain
          (1/(1 + s/2/pi/500))*... % Low pass filter to be more robust to high frequency resonances
          eye(6); % Diagonal 6x6 controller
      
Kiff = c2d(Kiff_g1, Ts, 'tustin');

%%
save('./frf_data.mat', 'Fs', 'Ts', 'Tsim', 'Trec_start', 'Trec_dur', 'V_exc', 'Kiff');