Changeset 1261 for applications/dual

Timestamp:

12/09/10 16:33:44 (13 years ago)

Author:

smidl

Message:

LQG changes + lyx

Files:

• applications/dual/texts/pmsm_system.lyx (modified) (1 diff)

applications/dual/texts/pmsm_system.lyx

@@ -715 +715 @@
 
 \begin_layout Subsection
+Cautious LQG control
+\end_layout
+
+\begin_layout Standard
+Uncertainty in 
+\begin_inset Formula $A$
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+Sigma points: 
+\begin_inset Formula $x^{(i)}=\hat{x}+hv_{i}$
+\end_inset
+
+, 
+\begin_inset Formula $v_{i}$
+\end_inset
+
+ are eigenvectors of 
+\begin_inset Formula $P$
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula \begin{eqnarray*}
+E\{x'A(x)QA(x)x\} & = & \frac{1}{n}\sum x'A(x^{(i)})QA^{(i)}(x)x\\
+ & = & x'Zx'\end{eqnarray*}
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+Uncented transform...
+\end_layout
+
+\begin_layout Subsection
 Poor-man's dual LQG control
 \end_layout