
experiment_settings
{
  dt          0.001
  nSteps      6000
  w_n         20      ; oscillator resonance frequency
  
  ; parameterize the disturbance (frequency increasing over time)
  disturbance_frequency 1.0;
  disturbance_max       10.0;

  ; we send a feedforward signal with following frequency and magnitude
  uff_frequency   1.0
  uff_magnitude
  {
    (0,0) 500.0
  }
}

x0
{
  (0,0) 1.0
  (1,0) 0.0
}

kalman_weights
{
  Qaug
  {
    scaling 1.0
    (0,0) 0.001
    (1,1) 0.01
    (2,2) 10.0 ; directly reflects the expected disturbance variance
  }
  R
  {
    scaling 0.001
    (0,0) 0.1
    (1,1) 1
  }
}

process_noise
{
  process_var
  {
    scaling 0.01
    (0,0) 0.01
    (1,1) 0.1
  }
}

measurement_noise
{
  measurement_var
  {
    scaling 1
    (0,0) 0.001
    (1,1) 0.01
  }
}