XCOS Kalman Filter Demo

Specific domains Xcos
1

If I change the dimension of the set context to

// Define physical parameters
k1 = 100;   // Spring constant of k1 (N/m)
k2 = 50;    // Spring constant of k2 (N/m)
b = 10;     // Damping coefficient (Ns/m)
m1 = 5;     // Mass of m1 (kg)
m2 = 3;     // Mass of m2 (kg)
// System Matrices
A = [0, 1, 0, 0;
    -(k1 + k2) / m1, -b / m1, k2 / m1, 0;
     0, 0, 0, 1;
     k2 / m2, 0, -k2 / m2, 0];

B = [0;
     1 / m1;
     0;
    -1 / m2];

C = [1, 0, 0, 0;
     0, 0, 1, 0];

D = [0; 0];

// Kalman Filter Parameters
Q = diag([0.01, 0.01, 0.01, 0.01]);  // Process noise covariance
R = diag([0.05, 0.05]);              // Measurement noise covariance
P0 = diag([0.1, 0.1, 0.1, 0.1]);    // Initial error covariance

Then how to debug it. It is hard coded. What is the error now?

2

Capture
Capture676×692 77.4 KB

If we change parameter then it wont work hence model is used for only case.

3

In which block do you use these Q, R and P0 parameters ? in specific blocks ?
Could you share this schema ?

4

Please go to Demo >XCOS> Control System > Kalman Filter

If you change above parameters then we will get this error. Other variable

Q, R and P0 are inside the kalman filter super block so you can see it.

Capture
Capture1453×855 121 KB