partial function ekfSystemBase
extends Modelica.Icons.Function;
import Modelica;
import Modelica_LinearSystems2;
input Real x[:] "Estimated vector at instant k";
input Real u[:] "Input at instant k";
input Real u2[size(u, 1)] "Input at instant k";
input Modelica.Units.SI.Time Ts "Sample time";
input Integer ny "Number of outputs";
output Real x_new[size(x, 1)] "Modeled mean";
output Real y[ny] "Modeled output";
output Real Ak[size(x, 1), size(x, 1)] "System matrix of the discrete linearized system at instant k";
output Real Ck[ny, size(x, 1)] "Output matrix of the discrete linearized system at instant k";
end ekfSystemBase;