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;