

%% transfer functions
tau1 = 500;
tau2 = 1200;

%Q_HW
K_hw  = 2.5; %2.5;
tau_hw = 3058; % tau2+0.5*tau1;
theta_hw= 90; % 0.5*tau1;

%Q_EH
K_eh = 8; % 2.5;
tau_eh =  2968 ; % tau1;
theta_eh = 0;

%Q_AC
K_ac = -8; %-2.5;
tau_ac =  2968 ; % tau1;
theta_ac = 0;

%mv
K_mv= 0.1;
tau_mv = tau1;
theta_mv = 0;

%% HW
tauc_hw = 300; % 6*theta_hw;
Kc_hw=tau_hw/(K_hw*(tauc_hw+theta_hw));
tauI_hw=min(tau_hw,(4*(tauc_hw+theta_hw)));
KI_hw=Kc_hw/tauI_hw;

%% EH
tauc_eh = 300; % theta_hw; %tau1/4;
Kc_eh=tau_eh/(K_eh*(tauc_eh+theta_eh));
tauI_eh=min(tau_eh,(4*(tauc_eh+theta_eh)));
KI_eh=Kc_eh/tauI_eh;

%% AC
tauc_ac = 300; %theta_hw; %tau1/4;
Kc_ac=tau_ac/(K_ac*(tauc_ac+theta_ac));
tauI_ac=min(tau_ac,(4*(tauc_eh+theta_ac)));
KI_ac=Kc_ac/tauI_ac;

