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