DQCE:

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   Create an optimal estimator given a discrete time model of the form

   x[k+1] = phi x[k] + gamma w

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   Form:
   k = DQCE( phi, gamma, h, rw, rv )
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   ------
   Inputs
   ------
   phi                 State transition matrix
   gamma               Input matrix for plant noise
   h                   Measurement matrix
   rw                  Process noise
   rv                  Measurement noise

   -------
   Outputs
   -------
   k		            Optimal gain

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Children:

Common: Control/DRiccati