raw=desPos_actPos.Data
raw(:,2)=raw(:,1)*100
ft=fft(raw);
plot(log(abs(ft)));
plot(log(abs(ft(:,1)./ft(:,2))));

      i=int(minFrq*tSec); j=int(maxFrq*tSec); #print(w[i],w[j])


x=2+3j
rho=abs(x)
theta=angle(x)
%-------------------
x=rho*exp(j*theta)



  figure();
  h=pzplot(ssc.ss_cl(3),ssc.ss_o(3),ssc.ss_od(3));
  setoptions(h,'FreqUnits','Hz','Grid','on');legend('location','sw');






  %figure();bode(ssc.ss_o(3));
  %figure();tf=tf(ssc.ss_o) pzplot(tf(3));


  h=bodeplot(ssc.ss_cl(3),ssc.ss_o(3),ssc.ss_od(3));
  setoptions(h,'FreqUnits','Hz','Grid','on');

  h=pzplot(ssc.ss_cl(3),ssc.ss_o(3),ssc.ss_od(3));
  setoptions(h,'FreqUnits','Hz','Grid','on');


  h=bodeplot(ssc.ss_cl(3),ssc.ss_o(3),ssc.ss_od(3));
  setoptions(h,'FreqUnits','Hz','Grid','on');
  getoptions(h)




continous to discrete
web(fullfile(docroot, 'control/ref/c2d.html'))


h = tf(10,[1 3 10],'IODelay',0.25); 
hd = c2d(h,0.1)




function f=SCRATCH()
open('stage_closed_loop.slx')


  [m1,m2]=identifyFxFyStage();
  controlSystemDesigner(1,m2.tf_py);    % <<<<<<<<< This opens a transferfiûnction that can be edited

  %identification toolbox
  systemIdentification

  
  
  
  
  %opt=tfestOptions('Display','off');
  %opt=tfestOptions('Display','on','initializeMethod','svf');
  %opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[]);
  %opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[1,5;20,570]);
  %tf1 = tfest(mot1frq, 6, 4, opt);
  % Model refinement
  % Options = tf1.Report.OptionsUsed;
  % Options.WeightingFilter = 'prediction';
  % tf1_1 = pem(mot1frq, tf1, Options)





  bodeplot(mot1frq,tf1)
  mag,phase=bode(tf1,frq)
  figure(1)
  subplot(211)


  bodeplot(tf1)

  Opt = n4sidOptions('N4Horizon',[15 15 15]);
  n4s3 = n4sid(mot1frq, 3, Opt)





  %tf([1 2],[1 0 10])
  %specifies the transfer function (s+2)/(s^2+10) while
  sys=tf([1],[1,0,0])
  bode(sys)
  step(sys)

  sys=tf([1],[1,-1,2]) %instable

  sys=tf([1],[1,1,2]) %stable


  %0dB at 12 Hz=12*2*pi rad/s =75.4=k^2 -> k=8.6833

  sys=tf([10],[1,0,0])
  %1/s^2 -> 0dB at 1Hz -40dB/decade
  %10=+20dB


  sys=tf([1],[1,0,2]) %not damped constant sine after step


  sys=zpk([],[1,0,0],100) %stable

  sys=zpk([],[-10,-10],100)


  %parker stage 1 
  %!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
  %!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
  %!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
  %!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
  Ts=2E-4 % discrete sample time (servo period)
  Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000
  Kp=25,Kvfb=0,Ki=0,Kvff=0,Kaff=0,MaxInt=0


  num=7.32
  den=[5.995e-04 4.897e-02   1.]
  open('stage_closed_loop.slx')
  %sim('stage_closed_loop.slx')

  sys=tf(num,den)
  bode(sys)
  G = tf(1.5,[1 14 40.02]);
  controlSystemDesigner('bode',sys);
  controlSystemDesigner
  linearSystemAnalyzer
  load ltiexamples
  linearSystemAnalyzer(sys_dc)

  controlSystemDesigner('bode',sys);
  controlSystemDesigner(1,sys);    % <<<<<<<<< This opens a transferfiûnction that can be edited

  num=[8.32795069e-11, 1.04317228e-08, 6.68431323e-05, 3.31861324e-03, 7.32824533e+00];
  den=[5.26156641e-18, 1.12897840e-14, 7.67853031e-12, 1.03201301e-08, 2.05154780e-06, 1.34279894e-03, 7.19229912e-02, 1.00000000e+00];
  mot2=tf(num,den);
  controlSystemDesigner('bode',mot2);
  
  

end