clear all
clc
%% wood constants
run('constants_wood_lin_mdl')
run('state_space_wood_mdl_dis')
beta_motor_wood = beta_motor;
beta_motor_wood = beta_motor;
Fdi_wood = Fdi;
Ed_wood = Ed;
Bd_new_wood = Bd_new;
Fd1_wood = Fd1;
Ad_wood= Ad;
Ld_wood = Ld;
Cd_wood = Cd;
M_wood = Md;
De_wood = Ed;
Gd_wood = Gd;
E_wood = E;
B_new_wood = B_new;
A_wood= A;
C_wood = C;
M_wood = M;
A_tilde_wood = A_tilde;
B_tilde_wood = B_tilde;
B_wood = inv(M_wood)*B_tilde_wood;
B_new_wood =[B_wood(:,1) B_wood(:,2)];
D_wood = E;
G_tilde_wood = G_tilde;
G_wood = inv(M_wood)*G_tilde_wood;

%% bar values wood
u_bar_wood  = [m_sf_bar m_a_bar]'
y_bar_wood  = [T_w_bar O2_bar*100]
d_bar_wood  = [T_iw_bar]
x_bar_wood  = [T_w_bar T_bc_bar T_gc_bar T_eg_bar M_C_char_bar O2_bar]
r_bar_wood  = [T_w_bar O2_bar]'

%% wheat constants
run('constants_wheat_lin_mdl')
run('state_space_wheat_mdl_dis')
beta_motor_wheat = beta_motor;
beta_motor_wheat = beta_motor;
Fdi_wheat = Fdi;
Ed_wheat = Ed;
Bd_new_wheat = Bd_new;
Fd1_wheat = Fd1;
Ad_wheat= Ad;
Ld_wheat = Ld;
Cd_wheat = Cd;
M_wheat = Md;
De_wheat = Ed;
Gd_wheat = Gd;
E_wheat = E;
B_new_wheat = B_new;
A_wheat= A;
C_wheat = C;
M_wheat = M;
A_tilde_wheat = A_tilde;
B_tilde_wheat = B_tilde;
B_wheat = inv(M_wheat)*B_tilde_wheat;
B_new_wheat =[B_wheat(:,1) B_wheat(:,2)];
D_wheat = E;
G_tilde_wheat = G_tilde;
G_wheat = inv(M_wheat)*G_tilde_wheat;

%% bar values wheat
u_bar_wheat  = [m_sf_bar m_a_bar]'
y_bar_wheat  = [T_w_bar O2_bar*100]
d_bar_wheat  = [T_iw_bar]
x_bar_wheat  = [T_w_bar T_bc_bar T_gc_bar T_eg_bar M_C_char_bar O2_bar]
r_bar_wheat  = [T_w_bar O2_bar]'

%% Kalman filter values
Q_wood = [0 0 0 0 0 0;0 0 0 0 0 0;0 0 0 0 0 0;0 0 0 0 0 0;0 0 0 0 0 0;0 0 0 0 10^-6 0.1*10^-3];
P0_wood = [0 0 0 0 0 0;0 0 0 0 0 0;0 0 0 0 0 0;0 0 0 0 0 0;0 0 0 0 0 0;0 0 0 0 0 0];
R_wood=[1 0;0 1];
%% setup for interface with real system.
run('stoker_setup')
run('constants_wood_non_lin_mdl')