NLFilter:
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Implements a nonlinear fixed gain filter of the form
dx/dt = f(x,u,t) + k*(y - h(x,u,t))
f and h are strings giving the names of functions.
f is of the form f( x, t, u, k, y, h )
h is of the form h( x, u, t )
A 4th order Runge-Kutta is used to propagate the equations of motion.
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Form:
x = NLFilter( f, h, x, t, k, u, y, dT )
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Inputs
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f Right hand side of the differential equations
h Measurement equations
x State vector
t Time
k Gain matrix
u Known inputs
y Actual measurements
dT Time step
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Outputs
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x State vector
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Children:
Common: Math/RK4