Filter Class Reference

#include <sc_filter.h>

Public Member Functions
void	Initialize (const ml_matrix &a, const ml_matrix &b, const ml_matrix &c, const ml_matrix &d)
	Initialize the filter with the state space matrices.
void	SetState (const ml_matrix &x)
	Set the state.
ml_matrix	Update (const ml_matrix &u)
	Update the filter The output y is c*x + d*u. More...
void	Reset (void)
	Reset the filter state x to zero.

Detailed Description

   A state space filter. The filter is of the form
   \f[
    y_{k+1} = c x_k + c u_k
    x_{k+1} = a x_k + b u_k
   \f]

Member Function Documentation

Update()

ml_matrix Filter::Update

(

const ml_matrix &

u

)

Update the filter The output y is c*x + d*u.

The state x = ax + b*u is stored.

Parameters

u

Input

Returns

y Output