DetectionFilterUnnormalized:

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   Create a unnormalized detection filter for a fully measured system.
   The filter is of the form

   y[k]   = c*x[k]
   x[k+1] = a*x[k] + D*(m[k] - c*x[k]) + b*u[k]

   r[k] = m[k] - c*x[k]

   This filter is unnormalized.
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   Form:
   [r, x] = DetectionFilterUnnormalized( d, m, u, x )
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   ------
   Inputs
   ------
   d			        (:)    Detection filter
                        .g      plant
                        .d      gain matrix
   m                    Measurements
   u                    Inputs
   x                    State

   -------
   Outputs
   -------
   r                    Residuals
   x                    State

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