.Modelica_LinearSystems2.WorkInProgress.DiscreteStateSpace.Internal.predictBase

Information

Base class of prediction-function

Interface

partial function predictBase
  extends Modelica.Icons.Function;
  import Modelica;
  import Modelica_LinearSystems2;
  input Modelica_LinearSystems2.DiscreteStateSpace.Internal.fBase fSigma;
  input Real xpre[:] "Estimated vector of previous instant";
  input Real upre[:] "Input at instant k";
  input Real Ppre[size(xpre, 1), size(xpre, 1)] "Error covariance matrix of the previous instant";
  input Real Q[size(Ppre, 1), size(Ppre, 1)] "Covariance matrix of the process noise";
  input Real alpha = 1 "Spread of sigma points";
  input Real beta = 2 "Characteristic of the distribution of x";
  input Real kappa = 0 "Kurtosis scaling of sigma point distribution";
  input Modelica.Units.SI.Time Ts "Sample time";
  output Real mu[size(xpre, 1)] "Predicted mean";
  output Real Pk[size(xpre, 1), size(xpre, 1)] "Transformed covariance matrix";
end predictBase;