Specifications

10 Design Case Studies
10-54
You can construct a state-space model of this block diagram with the functions
parallel and feedback. First build a complete plant model with as
inputs and and (measurements) as outputs.
a = A;
b = [B B 0*B];
c = [C;C];
d = [0 0 0;0 0 1];
P = ss(a,b,c,d,-1,'inputname',{'u' 'w' 'v'},...
'outputname',{'y' 'yv'});
Then use parallel to form the following parallel connection.
sys = parallel(P,kalmf,1,1,[],[])
Finally, close the sensor loop by connecting the plant output to the filter
input with positive feedback.
% Close loop around input #4 and output #2
SimModel = feedback(sys,1,4,2,1)
% Delete yv from I/O list
SimModel = SimModel([1 3],[1 2 3])
The resulting simulation model has as inputs and as outputs.
SimModel.inputname
ans =
'w'
uwv
,,
yy
v
P
Kalman
filter
u
y
v
w
y
v
y
v
y
e
y
v
y
v
wvu,, yy
e
,