Scarica Formula Ackermann: Kalman Filter e Struttura Urdu - Prof. Consolini e più Prove d'esame in PDF di Sistemi MIMO solo su Docsity!
a- =
[§^
§? ]^ ,^ B=[§^
trouarer-iiesisteuue.ae tour gli
owtovalori in^0
✗ (^) (a) =^ A#It Bulo) =
[§^ F)
ulo) (^) , ulo) = [f) -^ ☐^ ✗^ (a)^ = [%) : ✗ (^) (2) =^ A^ ✗ (^) (1) + Bae^ (a) =
[§^ )^
[§^
'
& July ,^ ma^ )^
= (9) → ✗ (^) G) = [§] ✗ (^) (3) =^ A^ ✗ (^) (2) + Butz) e )
[%^ %)
v12) , u(2)^ = [F) → ✗^ (3) = [& ] ✗ =^ [✗^ (1)^ ✗^ G) ✗ G.D=
[%^?^ &^ ]^
f?^ §^ %)
F- = [uh ulz (^) ) o^ ] ✗^ " = [-9 %^ 8]
[§^ §^
= [9-9.1] b- = Bñ : (^) Bulo) =^ B^ [8) = [%) a-=^ a- (^) + BE - -
f:-&^ :?)
[1%1%-9-9]=1-1 E)
f!^!^ !]
. (^0 0 )
=L
: : :]
E- (^) [b-^ A- b-^ A'^ 5) =
[§^ §^ &]
Formula Oli^ Ackermann^ :^ ol (a)^ =^ as f-=^ -^ [o^ o^ a]^ Ñ^ " ACA) =^ - [a o o] ol^ (A) =^ - q At^ = a- q A- = fl o - a (^) ] = [- a - z (^) a] q A-2=[29-2]^ F--^ F-^ + (^) ñf =^ f- + (^) [of (^) ] [ - a - z (^) a) = qa→ , [g.^ z.gg^
g, ,
- = (^) [-9-91]+[-8-38]=[-7-7-5]
③ (^) a) Scouuposiziome olé
3 Kalman
A- =/&^ §^ ¥^ ¥] , B=[¥ %) , C-^ [a^0 00 ]^ b) ltaercA)^ dire^ se e- ouaffiomfibibe 0
osseruebibe
a) 4T€ Xp (o)^ =/o^ } (^) , Xp^ (a)^ =^ Im^ B O O XD (2) =^ Im^ [ B^ AB] =^ Inn^ (§ (^) % É ¥]^
= In
[É^ É^ §] a Xp (3)^ =^ Xr^ (2)^ +^ Im^ AM =Im[§ °§^ Fy]
+ Im
(F) = (^) Xr (^) (2) = (^) Xr ¥ 5 ×r=±m[É!^ ;] ✗no G) =^ her^ C^ ,^ ✗^ no^ (a)^ =^ her^ [EA]=^ were^ [988-8] = Xnoco) =^ ✗No ✗No -^ -^ her^ [a^ o^ o^ o] -^ -^ In^ [§ (^) Ff & )
- a 0 O O (^) O O O O O^9 O^ o
r =^ dive^ Xr =3 , D= dive ✗No =
, Xp^
+ ✗ No =^ Iue
(
O 9 0 0 9 0
0 0 9 0 0 9 } q p^ q (^) q x^ x f- (^) Olive ( Xen ✗ (^) No (^) ) = (^) let (^) of - Olive (✗^ Rt ✗ (^) No) = 3+3-4--
Ta =/§^ %)^ , (^) Ta=[§ }^ , Tu^ -_ (F) ,^ Ts^ memae
o o^ o^ a
- ^ °
°o°
F- [ ] Ti (^) Tz (^) th ] = (
^ °^ °^ °
(^8) o (^) q o ]^ ,^
T
9 O O
O 9 O O r- s s a- s a :¥÷i÷*
0 0 An] Anning- s
d O^ O^ O^ -4 O^ O^ O^ O
O 3
1% : (^) :{ 11 :^ : : :/^ =P:& : :/I:}^. :/
0 → 2-^ ERI
÷:
Strutt URDU
