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Revision 1351, 489 bytes
(checked in by zimamiro, 13 years ago)
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| 1 | function [ztrata omega]=jednoduche_rizeni(system,apriori) |
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| 2 | horizont=system.horizont_rizeni; |
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| 3 | x_hat=zeros(1,4); |
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| 4 | omega=zeros(2,horizont); |
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| 5 | ztrata=0; |
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| 6 | H=apriori.H; |
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| 7 | |
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| 8 | for i=1:horizont |
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| 9 | u=-simple_control(system,x_hat); |
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| 10 | system.x=get_next(system,system.x,u); |
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| 11 | H=kalman_filter(H,u,system); |
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| 12 | x_hat=H(:,1); |
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| 13 | omega(1,i)=system.x(3); |
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| 14 | omega(2,i)=x_hat(3); |
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| 15 | ztrata= ztrata+u'*system.gamma*u+(system.x-system.x_opt)'*system.ksi*(system.x-system.x_opt); |
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| 16 | end |
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| 17 | plot() |
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| 18 | |
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| 19 | end |
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