# PMSM

## Files
file | mpf_load.cpp
| Simulation of disturbances in PMSM model, EKF runs with simulated covariances.

file | mpf_u_delta.cpp
| TR 2525 file for testing Toy Problem of mpf for Covariance Estimation.

file | mpf_u_delta_real.cpp
| TR 2525 file for testing Toy Problem of mpf for Covariance Estimation.

file | mpf_u_weight.cpp
| Voltage U is multiplied by an unknown weight w which is estimated by MPF.

file | sim_var.cpp
| Simulation of disturbances in PMSM model, EKF runs with simulated covariances.

file | sim_var_arx.cpp
| Disturbances of PMSM model are fitted by an ARX model.

## Classes
class | IMpmsm
| State evolution model for a PMSM drive and its derivative with respect to . More...
class | IMpmsm2o
| State evolution model for a PMSM drive and its derivative with respect to . More...
class | IMpmsmStat
| State evolution model for a PMSM drive and its derivative with respect to , equation for is omitted.$. More...
class | OMpmsm
| Observation model for PMSM drive and its derivative with respect to . More...
## Functions
RV | rx ("{ia ib om th }")
RV | ru ("{ua ub }")
RV | ry ("{oia oib }")
vec | x2o_dbg (4)
void | sim_profile_steps1 (double &Ww, bool load=false)
void | sim_profile_2slowrevs (double &Ww, bool load=false)
void | sim_profile_vec01t (double &Ww, vec &vecWw)
## Variables
RV | rU = concat(ru, RV("{dua dub }"))