DCMotorDetectionFilter:
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Implements a DC motor detection filter. Uses Euler integration.
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Form:
[r, xDF] = DCMotorDetectionFilter( y, v, dT, xDF, alpha, beta, tau )
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Inputs
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y (2,1) Measurement vector [theta;omega]
v (1,:) Motor input voltage
dT (1,1) Time step (sec)
xDF (2,1) State estimate [theta;omega]
alpha (1,1) Motor input constant
beta (1,1) Motor rate constant
tau (1,1) Filter time constant
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Outputs
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r (2,1) Residuals [theta;omega]
xDF (2,1) State estimate [theta;omega]
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Children:
