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\section{SCRATCH}

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Here is still work to do...
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Make simulations in MATLAB. Set C/D filter to compensate resonance and the current loop.\\
This sshould be mostly the inverse of the figures: \ref{fig:mot1_chirp} and \ref{fig:mot2_chirp}.\\
Use $K_{fff}$
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\begin{verbatim}
clear;
clear global;
close all;
[mot1,mot2]=identifyFxFyStage();
[pb]=simFxFyStage(mot1);sim('stage_closed_loop');
close all;[ssc]=StateSpaceControlDesign(mot1);sim('observer');
[pb]=simFxFyStage(mot2);sim('stage_closed_loop');
close all;[ssc]=StateSpaceControlDesign(mot2);sim('observer');

mögliche tf:
iqCmd---->iqMeas
iqVolts-->iqMeas
iqMeas--->actPos

identifyFxFyStage.m
controlSystemDesigner('bode',1,mot1.tf_py);    % <<<<<<<<< This opens a transferfunction that can be edited
\end{verbatim}

\begin{figure}[h!]
\center
\framebox[5cm]{\vtop{\vspace{2cm}\hbox{INSERT GRAPHICS}\vspace{2cm}}}
\framebox[5cm]{\vtop{\vspace{2cm}\hbox{INSERT GRAPHICS}\vspace{2cm}}}
%\includegraphics[scale=.7]{model4.eps} 
\caption{Motor 1 sim	Motor 2 sim}
\end{figure}

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%\url{http://stackoverflow.com/questions/9845292/converting-matlab-to-python}\\
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%fancyvrb package sample
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