| 512 | | \begin_layout Standard |
| | 512 | \begin_layout Subsection |
| | 513 | Test Scenarios |
| | 514 | \end_layout |
| | 515 | |
| | 516 | \begin_layout Standard |
| | 517 | With almost full information, design of the control strategy should be almost |
| | 518 | trivial: |
| | 519 | \begin_inset Formula \begin{eqnarray*} |
| | 520 | \hat{\isa{}} & = & 0,\,\hat{\isb{}}=0,\hat{\omega}=1,\th=\frac{\pi}{2},\\ |
| | 521 | P_{t} & = & \mathrm{diag}([0.01,0.01,0.01,0.01]).\end{eqnarray*} |
| | 522 | |
| | 523 | \end_inset |
| | 524 | |
| | 525 | |
| | 526 | \end_layout |
| | 527 | |
| | 528 | \begin_layout Standard |
| | 529 | The difficulty arise when growing covariance matrix: |
| | 530 | \begin_inset Formula \begin{eqnarray*} |
| | 531 | \hat{\isa{}} & = & 0,\,\hat{\isb{}}=0,\hat{\omega}=1,\th=\frac{\pi}{2},\\ |
| | 532 | P_{t} & = & \mathrm{diag}([0.01,0.01,1,1]).\end{eqnarray*} |
| | 533 | |
| | 534 | \end_inset |
| | 535 | |
| | 536 | |
| | 537 | \end_layout |
| | 538 | |
| | 539 | \begin_layout Standard |
| | 540 | Or even worse: |
| | 541 | \begin_inset Formula \begin{eqnarray*} |
| | 542 | \hat{\isa{}} & = & 0,\,\hat{\isb{}}=0,\hat{\omega}=1,\th=\frac{\pi}{2},\\ |
| | 543 | P_{t} & = & \mathrm{diag}([0.01,0.01,1,10]).\end{eqnarray*} |
| | 544 | |
| | 545 | \end_inset |
| | 546 | |
| | 547 | |
