%
%  open loop driver-- examine the response of the plant by itself
%
%  put in some stuff for the ECP 210 system
%  this sets the value of the limiter
%
  saturation_level = 1000/2196; 
%
%  now load the plant model
%  the model is in state space form and we need to
%    convert it to transfer function form
%    don't worry about this for now
%
  load state_model_1dof
  C = [1 0];
  [num_Gp,den_Gp] = ss2tf(A,B,C,D);
%
%
%  clean up the transfer function by setting small values to 0
%
  tol = 1e-7;    % anything smaller than this is set to zero
%
% you are not responsible for the following voo doo
%
  num_Gp = (abs(num_Gp) > tol*ones(1,length(num_Gp))).*num_Gp;
  den_Gp = (abs(den_Gp) > tol*ones(1,length(den_Gp))).*den_Gp;
%
%  now construct the transfer function and display it
%
  Gp = tf(num_Gp,den_Gp);
  disp('Gp is : '); Gp
%
%  set the step amplitude and final time
%
  Amp = 0.1; % cm for the ECP 210 system
  Tf = 5.0;  % seconds
%
%  now simulate the system
%
  sim('openloop');
%
%  plot the results
%
   orient landscape % plot sideways
   subplot(2,1,1); plot(m_time,m_y); grid; xlabel('Time (sec)'); ylabel('Position (cm)');
   subplot(2,1,2); plot(m_time,m_u); grid; xlabel('Time (sec)'); ylabel('Control Effort');