Adaptative high-gain extended Kalman filter and applications
Adaptative high-gain extended Kalman filter and applications
Adaptative high-gain extended Kalman filter and applications
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tel-00559107, version 1 - 24 Jan 2011<br />
CONTENTS<br />
A.3 Uniform Continuity of the Resolvant . . . . . . . . . . . . . . . . . . . . . . . 125<br />
A.4 Bounds on a Gramm Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128<br />
B Proof of Lemmas 130<br />
B.1 Bounds on the Riccati Equation . . . . . . . . . . . . . . . . . . . . . . . . . 131<br />
B.1.1 Part One: the Upper Bound . . . . . . . . . . . . . . . . . . . . . . . . 133<br />
B.1.2 Part Two: the Lower Bound . . . . . . . . . . . . . . . . . . . . . . . 142<br />
B.2 Proofs of the Technical Lemmas . . . . . . . . . . . . . . . . . . . . . . . . . . 151<br />
C Source Code for Realtime Implementation 153<br />
C.1 Replacement Code for the File: rtai4 comedi datain.sci . . . . . . . . . . . . 154<br />
C.2 Computational Function for the Simulation of the DC Machine . . . . . . . . 155<br />
C.3 AEKF Computational Functions C Code . . . . . . . . . . . . . . . . . . . . . 157<br />
C.4 Innovation Computational Functions C Code . . . . . . . . . . . . . . . . . . 159<br />
C.5 Ornstein-Ulhenbeck Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162<br />
References 165<br />
xxiii
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