// hinf.h

#define START_TASK      1
#define STOP_TASK       2

struct my_msg_struct {
  int command;
  int order;
  double sampling_period;
};

#define BUF_LEN 5 // column number of time response record
#define RECORDING_SAMPLES 50000 // recording samples
#define WAITING_SAMPLES 25000 // waiting samples without control
#define ORDER_MAX 70 // maximum number of controller order
#define AMP 2.0 // amplitude of disturbance input

#define REFMIC_OFFSET 0. // offset voltage of reference mic.
#define ERRMIC_OFFSET 0.005 // offset voltage of error mic.

#define U_MAX 1.25 // limit voltage for control input saturation

// #define NO_CONTROL // if defined, controller never operates