baseDir='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuningDoc/';
%plots bode of desPos_actPos
[mot1,mot2]=identifyFxFyStage();
close all;
[pb]=simFxFyStage(mot2);sim('stage_closed_loop');
t=desPos_actPos.Time;
u=desPos_actPos.Data(:,1);
y=desPos_actPos.Data(:,2);
figure(1);
clf;
plot(t,u,'b');hold on;
plot(t,y,'color',[0 .5 0]);
grid on;ylim([-4 4]);
grid on;ylim([-2 2]);
saveas(gca, baseDir+"m2_sim_pb.eps",'epsc');
saveas(gca, baseDir+"m1_sim_ss.eps",'epsc');
saveas(gca, baseDir+"m2_sim_ss.eps",'epsc');
saveas(gca, baseDir+"m1_sim_ss_pref.eps",'epsc');
saveas(gca, baseDir+"m2_sim_ss_pref.eps",'epsc');


saveas(gca, baseDir+"m2_mdl_bode.eps",'epsc');

minFrq=1;maxFrq=1000;
tSec=t(length(t));
f=(1:length(t))/tSec;
fu=fft(u);
fy=fft(y);
ph=phase(fy./fu)
mag=abs(fy)./abs(fu);
magDb=20*log10(mag);
figure(2);
subplot(2,1,1);
semilogx(f,magDb);
subplot(2,1,2);
semilogx(f,ph);
grid on;