%% Project file for IMPACT 

% Release
iRelease = 1.000;

% Models files
path{1} = fullfile(matlabroot,'toolbox','IMPACT','demo','wec1');
file{1} = 'wec1_IMPACT_Model.m';


% Controller parameters
Data(1).name = 'controller 1';
Data(1).ptoCont = 'zpk([-0.010775+0.575833i -0.010775-0.575833i ], [0 ], [4.7265e+07 ])';
Data(1).floaterImpedance = 'zpk([], [-0.0116613+0.575461i -0.0116613-0.575461i ], [1.07516e-07 ])';
Data(1).sparImpedance = 'tf(0)';
Data(1).floaterFexc = 'tf(0)';
Data(1).sparFexc = 'tf(0)';


EKFFloater.rInitialFrequencyEkf = 0.5;
EKFFloater.rInitialPhi0 = 100000;
EKFFloater.rTimeStep = 0.01;
EKFFloater.arProcessNoiseCovariance_1 = 100000;
EKFFloater.arProcessNoiseCovariance_2 = 100000;
EKFFloater.arProcessNoiseCovariance_3 = 1e-12;
EKFFloater.arProcessNoiseCovariance_1_0 = 100000;
EKFFloater.arProcessNoiseCovariance_2_0 = 100000;
EKFFloater.arProcessNoiseCovariance_3_0 = 1;
EKFFloater.arMeasurementNoiseCovariance = 1e+10;
EKFFloater.rUpperFreq = 10;

EKFSpar.rInitialFrequencyEkf = 0.5;
EKFSpar.rInitialPhi0 = 100000;
EKFSpar.rTimeStep = 0.01;
EKFSpar.arProcessNoiseCovariance_1 = 1e+06;
EKFSpar.arProcessNoiseCovariance_2 = 1e+06;
EKFSpar.arProcessNoiseCovariance_3 = 1e-11;
EKFSpar.arProcessNoiseCovariance_1_0 = 100000;
EKFSpar.arProcessNoiseCovariance_2_0 = 100000;
EKFSpar.arProcessNoiseCovariance_3_0 = 0.1;
EKFSpar.arMeasurementNoiseCovariance = 1e+10;
EKFSpar.rUpperFreq = 10;

iControlType = 1;
iAdaptiveDamping = 0;
iPtoPositionConstraint  = 0;
rDisplacementLimit = 10.000000;
rMaxForcePto = 1000000000000000.000000;
rMinForcePto = -1000000000000000.000000;
rOutputSampleTime = 0.010000;
rStartRampTime = 100.000000;
rRampTimeLength = 100.000000;
rPassiveDampingGain = -214018.153700;
rPassiveDampingGainX = 0.000000;
rDisplacementLimitX = 0.000000;
stAddParamsFile = fullfile(matlabroot,'toolbox','IMPACT','demo','wec1','wec1AdditionalParams.m');
