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Measurement 的代码
chap7_8.m
%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');
hfun.asv
function [y] = hfun(x,t);
% PURPOSE : Measurement model function .
% INPUTS : - x: Hidden state
% : - u: control vector
% - n: Measurement noise
% - t: time index or
hfun.m
function [y] = hfun(x);
% PURPOSE : Measurement model function .
% INPUTS : - x: Hidden state
% : - u: control vector
% - n: Measurement noise
% - t: time index or i
chap7_9.m
%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
chap7_8.m
%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');
chap7_11.m
%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
chap7_9.m
%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');
chap7_10f.m
%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
chap7_10.m
%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
chap7_8.m
%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');