clear; close all;

% m = 38*2; %kg + added mass factor
% r = 0.18; %m
% A = pi * r^2;
% Cd = 1.5;
% rho = 1027; %kg/m^3
% g = 9.81;
% clin = 0.2; %linearization factor for 0.2 m/s

fn = 0.1;   % Hz3dB cutoff for filters
wn = 2 * pi * fn;
zeta = 1/sqrt(2); %gives ~5 %OS

% a = rho * g;
% b = rho*Cd*A*clin/2;

% values based on simulink2TF output of linearized plant model run on
% 8/1/14 with .1m/s linearization, 1027 rho, 40*2kg added mass
a = 1.743e-5;
m = 1;
b = 0.098;
%b=0;

%physical plant
SYS = tf([a],[m b 0]);     %TF of system in velocity
%SYS = tf([a],[m b 0 0]);     %TF of system in depth

rlocus(SYS)
%filter
FIL = tf([wn^2],[1 2*zeta*wn wn^2]);
%pole(FIL)

%sisotool(SYS);

