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# work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.h

    00001 /************************************
    00002         Extended Kalman Filter
    00003         Kalman Observer
    00004
    00005         Z. Peroutka
    00006
    00007 Rev. 15.3.2008
    00008
    00009         EKF pocitan s daty ve formatu Q15, zatimco regulace pracuje v Q13 ->
    00010         resenim je vynasobit referencni hodnoty v EKF 4-mi (tim je automaticky
    00011         zajisten prechod mezi formaty Q13 a Q15). Realizovano konstantou K_PREVOD_FORM.
    00012
    00013 15.3.2008       Kontrola kodu + zamena datovych typu q15->int a q30->long.
    00014
    00015 *************************************/
    00016
    00017 /* Declaration of global functions */
    00018 void init_ekf(double Tv, double *param);
    00019 void ekf(double *x_estimation, double Umd, double beta, double Ucnd, double Ucd, double isxd, double isyd);
    00020
    00021 // pouze pro ucely ladeni
    00022 extern double ladeni_EKF[10];
    00023