Four-controller meta-analysis: passive + opt_passive + ff+PID + CC on shared T=0.5–7 s axis (H=0.05 m)

[salhus]

Goal

Complete the controller comparison ladder as a second meta-analysis (follow-up to the CC-vs-ff+PID comparison landing today). Produce a single overlay across all four controllers:

• passive (linear viscous damper) → baseline
• opt_passive (optimal passive damping) → practical non-reactive ceiling
• exc_ff_pid (tuned causal/active) → engineered controller
• cc (complex-conjugate) → theoretical optimum (Budal-matching)

Tasks

1. Add 6 missing configs

passive and opt_passive currently exist only for VGM-0 and VGM-45. Add, modeled on the VGM-0/45 templates with angle-matched H5:

• config/vgoswec_10_passive.yaml, config/vgoswec_20_passive.yaml, config/vgoswec_90_passive.yaml
• config/vgoswec_10_opt_passive.yaml, config/vgoswec_20_opt_passive.yaml, config/vgoswec_90_opt_passive.yaml

2. Sweep coverage for passive + opt_passive

Add capture-efficiency sweeps (no such scripts exist today) on the shared T=0.5–7 s grid, H=0.05 m, writing to analysis/passive/ and analysis/opt_passive/ (own folders, mirroring analysis/cc/).

• opt_passive should re-tune design_omega = 2π/T per sweep point (optimal-passive at each period, like CC does), not fixed at resonance.
• passive runs with its fixed B_pto per period.

3. ⚠️ Reconcile wave-amplitude inconsistency (correctness blocker)

The existing ff+PID analysis docs disagree on sea state:

• analysis/BENCHMARK_NOTES.md: H=0.05 m, A=0.025 m, grid ω=4–12 (T≈0.5–1.57 s)
• analysis/README.md + docs/CONTROLLERS.md: A=0.014 m (H=0.028 m), grid T=2.0–7.0 s

CC uses H=0.05 m. Pin ALL four controllers to H=0.05 m (A=0.025 m) and fix the doc conflict so every P_capture and P_opt is computed at the same amplitude. Without this, all cross-controller ratios silently break.

4. Four-controller overlay

Extend the comparison overlay (from today's cc_vs_ffpid_comparison.py) to all four controllers on the shared T=0.5–7 s axis: P_capture and η panels, per-flap + cross-flap summary. Order the legend as the ladder: passive → opt_passive → ff+PID → cc.

Validation

• All four controllers swept on identical T=0.5–7 s grid at H=0.05 m for all 5 flaps.
• Amplitude reconciled to a single H=0.05 m across docs and scripts.
• Overlay shows the full ladder; --plot-only regenerates all figures from committed CSVs.

[salhus]

Completed via PR #49 (6 passive/opt_passive configs + shared T=0.5–7 s sweeps) and PR #33 (amplitude reconciled to H=0.05 m). Four-controller overlay superseded and improved by the three-regime study (PR #52/#53), which pruned fixed-passive as degenerate. See analysis/three_regime/ + FINDINGS_3REGIME.md.