% Set the parameters for simulation of the discrete-time rocket 
% stabilization system
%
% Sensors, noises and actuators shaping filters
%
% Accelerometer transfer function
numWa = [1];
denWa = [0.001^2  0.002  1];       % f = 150 Hz, ksi = 1     
gainWa = 0.4;                      % V/g
Wa = nd2sys(numWa,denWa,gainWa);
Ka = gainWa;
%
% Accelerometer noise shaping function
numWan = [0.12   1];
denWan = [0.001  1];
gainWan = 0.0002;
Wan = nd2sys(numWan,denWan,gainWan);
%
% Rate giro transfer function
numWg= [1];
denWg = [0.0016^2  0.0023  1];     % f = 100 Hz, ksi = 0.707
gainWg = 5.5;
Wg = nd2sys(numWg,denWg,gainWg);
%
% Rate giro noise shaping function
numWgn = [0.18   1];
denWgn = [0.002  1];
gainWgn = 0.00006;
Wgn = nd2sys(numWgn,denWgn,gainWgn);
%
% Pitch and yaw fins actuators
numWd= [1];
denWd = [0.00667^2  0.00942  1];   % om = 150 rad/s, ksi = 0.707
gainWd = 1;
Wd = nd2sys(numWd,denWd,gainWd);
%
% Rall giro transfer function
numWi= [1];
denWi = [0.0014^2  0.001  1];     % om = 690 rad/s, ksi = 0.707
gainWi = 1.5;
Wi = nd2sys(numWi,denWi,gainWi);
%
% Roll compensator
T1 = 1.0;
T2 = 0.6;
numKr = [T1 1];
denKr = [T2 1];
gainKr = 1.0;
Kr = nd2sys(numKr,denKr,gainKr);
%
% Roll fins actuator
numWr= [1];
denWr = [0.00318^2  0.0045  1];    % om = 314 rad/s, ksi = 0.707
gainWr = 1;
Wr = nd2sys(numWr,denWr,gainWr);
%
% Discrete-time controller
[Akd,Bkd,Ckd,Dkd] = unpck(KD);
%
u_adc = 10;      % V
B_adc = 16;      % digits
u_dac = 1;       % rad 
B_dac = 16;      % digits