NonlinearEstimator:
--------------------------------------------------------------------------
Implements an online approximator for a spring mass damper system.
Uses radial basis functions. This is an example of the use of
online approximators for fault detection. Calls OnlineApproximator.
Since version 9.
--------------------------------------------------------------------------
Form:
yEst = NonlinearEstimator( yEst, yMeas, t, d )
--------------------------------------------------------------------------
------
Inputs
------
yEst (:,1) [state;theta]
yMeas (2,1) Measured state
t (1,1) Time
d (1,1) Input data structure
.plant (1,1)
.k0 (1,1) Spring stiffness
.c0 (1,1) Damping
.m (1,1) Mass
.est (1,1)
.k (1,1) Spring stiffness
.c (1,1) Damping
.oA (1,1)
.sigma (1,1) Standard deviation
.c (q,1) Centers
.thetaMax (1,1) Maximum parameter
.gamma (1,1) Lyapunov gain
-------
Outputs
-------
yEst (:,1) [state;theta]
--------------------------------------------------------------------------
References: Demetriou, M. A. and M. M. Polycarpou. "Incipient Fault
Diagnosis of Dynamical Systems Using Online Approximators."
IEEE Trans. Automatic Control, Vol. 43, No. 11, Nov. 1998,
pp. 1612-1616.
--------------------------------------------------------------------------
Children:
Math: FDIR/OnlineApproximator
