Adaptative high-gain extended Kalman filter and applications

tel-00559107, version 1 - 24 Jan 2011
double x [3]={ I , I ∗wr , Tl∗ I } , xh [ 4 ] = { 0 , 0 , 0 , 0 } ;
/∗ t h o s e ZEROs w i l l be r e d e f i n e d l a t e r on ∗/
double preInn [2]={pow ( ( block−>z [0] − x [ 0 ] ) , 2 ) , 0 } ;
double Inn =0; /∗ t h i s i s t h e INNOVATION ∗/
double hh=Dt ∗ 0 . 5 , h6=Dt / 6 ;
double dx1 [ 3 ] , dx2 [ 3 ] , dx3 [ 3 ] , dx4 [ 3 ] ;
int neq =3; /∗ number o f ODEs to s o l v e ∗/
/∗ Update o f t h e o utput s i g n a l s t a c k ∗/
for( i =1; iz [ i −1]=block−>z [ i ] ; }
block−>z [ n]=Y;
C.4 Innovation Computational Functions C Code
for( j =1; jz [ n+j ] ;
xh [3]=V;
/∗ BEGIN RK4 ∗/
for( i =0; i