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<codeline lineno="1"><highlight class="normal">itload(</highlight><highlight class="stringliteral">&apos;../pmsm.it&apos;</highlight><highlight class="normal">)</highlight></codeline>
<codeline lineno="2"><highlight class="normal">figure(1);</highlight></codeline>
<codeline lineno="3"><highlight class="normal">plot(xthM(1,:)&apos;)</highlight></codeline>
<codeline lineno="4"><highlight class="normal">set(gca,&apos;YLim&apos;,[0,0.4])</highlight></codeline>
<codeline lineno="5"><highlight class="normal">hold<sp/>on</highlight></codeline>
<codeline lineno="6"><highlight class="normal">plot([0,10000],0.1*[1,1],&apos;--&apos;)</highlight></codeline>
<codeline lineno="7"><highlight class="normal">legend(&apos;\hat{q}_t<sp/></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/><ref refid="classEKF" kindref="compound" tooltip="Extended Kalman Filter.">EKF</ref>-<ref refid="classPF" kindref="compound" tooltip="Trivial particle filter with proposal density equal to parameter evolution model...">PF</ref>&apos;,&apos;simulated<sp/>value&apos;)</highlight></codeline>
<codeline lineno="8"><highlight class="normal">legend(&apos;expected<sp/>value<sp/>of<sp/>q_t<sp/>using<sp/><ref refid="classEKF" kindref="compound" tooltip="Extended Kalman Filter.">EKF</ref>-<ref refid="classPF" kindref="compound" tooltip="Trivial particle filter with proposal density equal to parameter evolution model...">PF</ref>&apos;,&apos;simulated<sp/>value&apos;)</highlight></codeline>
<codeline lineno="9"><highlight class="normal">xlabel(&apos;time<sp/>index&apos;)</highlight></codeline>
<codeline lineno="10"><highlight class="normal">%set(gcf,&apos;PaperPositionMode&apos;,&apos;auto&apos;);</highlight></codeline>
<codeline lineno="11"><highlight class="normal">%print<sp/>-deps2<sp/>ekf</highlight></codeline>
<codeline lineno="12"><highlight class="normal"></highlight></codeline>
<codeline lineno="13"><highlight class="normal">figure(2);</highlight></codeline>
<codeline lineno="14"><highlight class="normal">subplot(2,1,1)</highlight></codeline>
<codeline lineno="15"><highlight class="normal">plot(xth(3,:)&apos;,&apos;--&apos;)</highlight></codeline>
<codeline lineno="16"><highlight class="normal">hold<sp/>on</highlight></codeline>
<codeline lineno="17"><highlight class="normal">plot(xthE(3,:)&apos;,&apos;:&apos;)</highlight></codeline>
<codeline lineno="18"><highlight class="normal">plot(xthM(5,:)&apos;)</highlight></codeline>
<codeline lineno="19"><highlight class="normal">legend(&apos;Simulated<sp/>\omega&apos;,&apos;Estimated<sp/>\omega<sp/>using<sp/><ref refid="classEKF" kindref="compound" tooltip="Extended Kalman Filter.">EKF</ref><sp/>&apos;,<sp/>&apos;Estimated<sp/>\omega<sp/>using<sp/>EKF-<ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF</ref><sp/>&apos;);</highlight></codeline>
<codeline lineno="20"><highlight class="normal">xlabel(&apos;time<sp/>index&apos;)</highlight></codeline>
<codeline lineno="21"><highlight class="normal">%set(gca,&apos;XLim&apos;,[2300,3000]);</highlight></codeline>
<codeline lineno="22"><highlight class="normal"></highlight></codeline>
<codeline lineno="23"><highlight class="normal">subplot(2,1,2)</highlight></codeline>
<codeline lineno="24"><highlight class="normal">hold<sp/>off</highlight></codeline>
<codeline lineno="25"><highlight class="normal">plot(xth(4,:)&apos;,&apos;--&apos;)</highlight></codeline>
<codeline lineno="26"><highlight class="normal">hold<sp/>on</highlight></codeline>
<codeline lineno="27"><highlight class="normal">plot(xthE(4,:)&apos;,&apos;:&apos;)</highlight></codeline>
<codeline lineno="28"><highlight class="normal">plot(xthM(6,:)&apos;)</highlight></codeline>
<codeline lineno="29"><highlight class="normal">legend(&apos;Simulated<sp/>\upsilon&apos;,&apos;Estimated<sp/>\upsilon<sp/>using<sp/>EKF<sp/>&apos;,<sp/>&apos;Estimated<sp/>\upsilon<sp/>using<sp/>EKF-MPF<sp/>&apos;);</highlight></codeline>
<codeline lineno="30"><highlight class="normal">xlabel(&apos;time<sp/>index&apos;)</highlight></codeline>
<codeline lineno="31"><highlight class="normal">%set(gca,&apos;XLim&apos;,[2300,3000]);</highlight></codeline>
<codeline lineno="32"><highlight class="normal"></highlight></codeline>
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