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Timestamp:
08/29/09 20:54:10 (15 years ago)
Author:
smidl
Message:

doc

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  • library/doc/html/formula.repository

    r538 r590  
    137137\form#136:$ R $ 
    138138\form#137:$ R_e $ 
     139\form#138:\[ L(y,u) = (y-y_{req})'Q_y (y-y_{req}) + (u-u_{req})' Q_u (u-u_{req}) \] 
     140\form#139:\[ x_{t+1} = Ax_t + B u_t + R^{1/2} e_t, y_t=Cx_t+Du_t + R^{1/2}w_t, \] 
     141\form#140:\[ y_t = a y_{t-1} + b u_{t-1}\] 
     142\form#141:$ x_t = [y_{t-1}, u_{t-1}] $