# Numerical parameter file (TwoLinkGMV_state.txt)
# Generated by MTT at Tue Apr 14 08:54:28 BST 1998
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global ObserverGain;
# Set the states
x(1) = 0 ; # TwoLinkGMV_spec_1 (c_s)
x(2) = 0 ; # TwoLinkGMV_spec_1 (j_s)
x(3) = 0 ; # TwoLinkGMV_spec_2 (c_s)
x(4) = 0 ; # TwoLinkGMV_spec_2 (j_s)
x(5) = 0 ; # TwoLinkGMV_system_rod1 (J)
x(6) = pi/4 ; # TwoLinkGMV_system_rod1_th (3)
x(7) = 0 ; # TwoLinkGMV_system_rod2 (J)
x(8) = 0 ; # TwoLinkGMV_system_rod2_th (3)
x(9) = 0 ; # TwoLinkGMV_model_rod1_J (i)
x(10) = 0 ; # TwoLinkGMV_model_rod1_th_c (c)
x(11) = 0 ; # TwoLinkGMV_model_rod2_J (i)
x(12) = 0 ; # TwoLinkGMV_model_rod2_th_c (c)
# Observer design
[A,B,C] = TwoLinkP_sm; # Get the linearised system
sigma = 0.1; # Measurement noise variance (pretend)
k = lqe(A,eye(4),C,eye(4),sigma*eye(2))
ObserverGain = k*C; # This system happens to have a linear output