modelKF
Discrete State Space block
Parameters
| Type | Name | Default | Description |
|---|
| StateSpace | ss | | Continuous linear system model |
| Modelica.Units.SI.Time | sampleTime | 0.5 | Base sample time for discrete blocks |
| Real[size(dss.B, 2),size(dss.B, 2)] | Q | identity(size(dss.B, 2)) | Input or process noise covariance matrix of the previous instant |
| Real[size(dss.C, 1),size(dss.C, 1)] | R | identity(size(dss.C, 1)) | Output or measurement noise covariance matrix of the previous instant |
| Real[size(dss.A, 1),size(dss.A, 1)] | P0 | 10*identity(size(dss.A, 1)) | Initial state covariance matrix of the previous instant |
| Real[size(dss.A, 1)] | x_init | fill(0, size(dss.A, 1)) | |
| DiscreteStateSpace | dss | DiscreteStateSpace(ss, sampleTime, method = Modelica_LinearSystems2.Utilities.Types.Method.StepExact) | Discrete linear system model |
Components
| Type | Name | Default | Description |
|---|
| Real[size(dss.A, 1),size(dss.A, 1)] | P | | State covariance matrix of the previous instant |
| Real[size(dss.A, 1),size(dss.A, 1)] | P_pre | | State covariance matrix of the previous instant |
| Real[size(dss.A, 1),size(dss.C, 1)] | K | | Kalman filter gain matrix |
| Real[size(dss.A, 1)] | z | | |
