BM_Marty

%% Assignment 1 - part II
clear all, clc, close all

M = 14; % Mass of the system.
Km = 5.4; % Transfer from control command u to motor Force Fm (pure gain).
d = 506; % Damping.

Cs = 35300; % SE spring.
Ctot = Cs; % Total stiffness equal to spring stiffness because Cb = 0.

x3 = 0; % Position on outside of SE element.

H = tf([Ctot Ctot*(d/M) 0],[1 d/M Ctot/M]);

set(cstprefs.tbxprefs,'FrequencyUnits','Hz')
bode(H)

%% Run Simulink first
close all

freq = linspace(1,1000,1000);

figure
plot(freq,abs(fft(yout(:,2))))
title('Frequency content of the output.')
xlabel('Freq (Hz)')
xlim([0 500])

fundat = iddata(yout(:,2),yout(:,1),0.001);

g = spafdr(fundat)

figure
tfestimate(yout(:,1),yout(:,2),190,[],[],0.001)

figure
plot(g)