Changeset 33 for matlab

Timestamp:

03/05/08 16:01:56 (16 years ago)

Author:

smidl

Message:

Oprava PF a MPF + jejich implementace pro pmsm system

Location:

matlab

Files:

• testKF.it (modified) (previous)
• testKF.m (modified) (3 diffs)

matlab/testKF.m

@@ -4 +4 @@
 if ~skipgen
         A=[1 -0.5; 1 0];
-        B=[1;0];
-        C=[1 0];
-        D=[0];
-        R=[1];
-        Q=[0.2 0 ; 0 0.02]; 
+        B=[1;0.1];
+        C=[1 0; 0 1];
+        D=[0.1; 0];
+        R=[1 0; 0 0.1];
+        Q=[0.2 0 ; 0 0.2]; 
 
         sQ = chol(Q)';
@@ -17 +17 @@
         P0 = 200*eye(2);
 
-        u = zeros(1,N);
+        u = rand(1,N);
         x = zeros(2,N);
-        y = zeros(1,N);
+        y = zeros(2,N);
 
         x(:,1) = [10;10];
         Et = sQ*randn(2,N);
-        Wt = sR*randn(1,N);
+        Wt = sR*randn(2,N);
         for i=2:N;
                 x(:,i) = A*x(:,i-1) + B*u(i) + Et(:,i);
@@ -76 +76 @@
 plot(xthE','o');
 plot(Mu',':');
+keyboard
 end