User`s guide

9 Design Case Studies
9-54
The blockdiagram below shows how to generateboth true and filtered outputs.
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,[],[])
Plant
Kalman
filter
y
u
Process noise Sensor noise
y
y
v
y
e
uwv
,,
y
y
v
P
Kalman
filter
u
y
v
w
y
v
y
v
y
e