代码搜索结果

% calculate_gravity.m %use symbolic math for measurement error syms L g %original input variables (length, gravity) T = 2*pi*sqrt(L/g); %textbook equation period T=f(L,

%Discrete Kalman filter for PID control %Reference kalman_2rank.m %x=Ax+B(u+w(k)); %y=Cx+D+v(k) clear all; close all; ts=0.001; %Continuous Plant a=25;b=133; sys=tf(b,[1,a,0]); dsys=c2d(sy

%Kalman filter %x=Ax+B(u+w(k)); %y=Cx+D+v(k) clear all; close all; ts=0.001; M=3000; %Continuous Plant a=25;b=133; sys=tf(b,[1,a,0]); dsys=c2d(sys,ts,'z'); [num,den]=tfdata(dsys,'v');

%Discrete Kalman filter %x=Ax+B(u+w(k)); %y=Cx+D+v(k) function [u]=kalman(u1,u2,u3) persistent A B C D Q R P x yv=u2; if u3==0 x=zeros(2,1); ts=0.001; a=25;b=133; sys=tf(b,[1,a

%Discrete Kalman filter for PID control %Reference kalman_2rank.m %x=Ax+B(u+w(k)); %y=Cx+D+v(k) clear all; close all; ts=0.001; %Continuous Plant a=25;b=133; sys=tf(b,[1,a,0]); dsys=c2d(sy

%Kalman filter %x=Ax+B(u+w(k)); %y=Cx+D+v(k) clear all; close all; ts=0.001; M=3000; %Continuous Plant a=25;b=133; sys=tf(b,[1,a,0]); dsys=c2d(sys,ts,'z'); [num,den]=tfdata(dsys,'v');

function [K,Pout] = josephb(z,R,H,P) % % Joseph "stabilized" Kalman filter measurement % update as modified by Bierman. % T1 = sqrt(R); T2 = H/T1; T4 = P*T2'; T5 = T2*T4 + 1; K = T4/T5; T7

function [K,Pout] = josephdv(z,R,H,P) % % Joseph "stabilized" Kalman filter measurement % update as implemented by De Vries. % T1 = P*H'; T2 = H*T1 + R; K = T1/T2; T3 = .5*K*T2 - T1; T4 = T3

%Discrete Kalman filter for PID control %Reference kalman_2rank.m %x=Ax+B(u+w(k)); %y=Cx+D+v(k) clear all; close all; ts=0.001; %Continuous Plant a=25;b=133; sys=tf(b,[1,a,0]); dsys=c2d(sy

%Kalman filter %x=Ax+B(u+w(k)); %y=Cx+D+v(k) clear all; close all; ts=0.001; M=3000; %Continuous Plant a=25;b=133; sys=tf(b,[1,a,0]); dsys=c2d(sys,ts,'z'); [num,den]=tfdata(dsys,'v');