Why is a value of 1 used for the frequency vector input from runPowStudy.m to mimoPi.m?

[Jeffalo1]

I was looking through how the gain matrix is calculated and came across this issue. When the powStudy matrix is being stored, the gain matrix uses a value of 1 as an input to mimoPi.m for the frequency vector. Shouldn't the peak frequency of the spectrum be used or is there something that I am missing?

Also, along the same lines, I am a bit confused on how the code calculates the theoretical power absorbed based on the optimized gains. The Ki gain changes based on the frequency, but would this represent an actual system well? Are we easily able to alter the stiffness of a PTO for each frequency in the spectrum (I am really not sure as I don't have much experience with hardware yet)? Additionally, if the Ki gain changes based on frequency, why does the Kp gain not change?

Let me know if any of my questions need more clarity as I am just trying to understand the functionality of this code better so that I can incorporate some of the concepts into my research on control codesign of WECs.

--Thanks!
Jeff

[jtgrasb]

@ryancoe This issue is not a bug and can be closed.

At the time, I didn't realize that the Ki gain was divided by the frequency (omega), which is why I thought Ki was changing based on frequency. The reason 1 is used as the frequency input is to mimoPI is to get the Ki gain without the value being affected by the frequency.