Path: Common/Estimation
% Nonlinear estimator spring model.
Has a linear and cubic spring plus a damper.
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Form:
d = RHSPartialNLSpring; % data structure
a = RHSPartialNLSpring( x, t, d )
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Inputs
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x (2,1) State [position;velocity] (not used)
t (1,1) Time (not used)
d (.) Data structure
.kL (1,1) Linear spring coefficient
.kC (1,1) Cubic spring coefficient
.c (1,1) Damping coefficient
.f (1,1) Force
.x0 (1,1) Nominal x
.m (1,1) Mass
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Outputs
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a (2,2) State transition matrix
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