Overview
Comment:Correct on current value, predict next value
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SHA3-256: a8c356c72101c114ae742fdc6be0cb627409fcbac3c4372eb7c7808a601bc152
User & Date: gawthrop@users.sourceforge.net on 2003-10-15 16:14:38
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Context
2003-10-15
16:21:20
Simulation and real now compatible! check-in: 2e7eb80963 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
16:14:38
Correct on current value, predict next value check-in: a8c356c721 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2003-10-11
15:08:54
mtt -ibg Clutch odeso view now works!
The order in which bonds are listed in each row of the connection/components matrix matters.
Bonds with SS components at the other end are listed first (in order?). check-in: 40803ca7e2 user: geraint@users.sourceforge.net tags: origin/master, trunk
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Modified mttroot/mtt/lib/control/PPP/ppp_int_obs.m from [24ed193861] to [982a22072f]. 

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function [x_new,y_new,error] = ppp_int_obs (x,y,U,A,B,C,D,A_u,delta,L)

  ## usage: x_new = ppp_int_obs (x,y,U,A,B,C,D,A_u,delta,L)
  ##
  ## Intermittent observer for PPP
  ##
  ## x,y Current estimated state and measured output
  ## U PPP control weights
  ## A,B,C,D System matrices
  ## A_u PPP basis matrix
  ## delta time step
  ## L Observer gain

  ## Sanity check
  [n_x,n_u,n_y] = abcddim(A,B,C,D);

  if nargin<10
    L = zeros(n_x,n_y);
  endif
  




  ## Predictor
  [y_p,us,x_p] = ppp_ystar (A,B,C,D,x,A_u,U,delta);

  ## Corrector
  error = (y_p-y);
  x_new = x_p - L*error;
  y_new = C*x_new;
endfunction

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function [x_p,y_p,error] = ppp_int_obs (x,y,U,A,B,C,D,A_u,delta,L)

  ## usage: x_new = ppp_int_obs (x,y,U,A,B,C,D,A_u,delta,L)
  ##
  ## Intermittent observer for PPP
  ##
  ## x,y Current estimated state and measured output
  ## U PPP control weights
  ## A,B,C,D System matrices
  ## A_u PPP basis matrix
  ## delta time step
  ## L Observer gain

  ## Sanity check
  [n_x,n_u,n_y] = abcddim(A,B,C,D);

  if nargin<10
    L = zeros(n_x,n_y);
  endif
  
  ## Corrector (on current value of output)
  error = (C*x-y);
  x_new = x - L*error;

  ## Predictor (predicts Delta_OL ahead)
  [y_p,us,x_p] = ppp_ystar (A,B,C,D,x_new,A_u,U,delta);





endfunction

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