clc
clear?all
A1=[-0.5?0.3;
????0.1?1];
A2=[0.2?-0.1;
????1?0.3];
A3=[1?-0.2;
????2?0.05];
B1=[0.1;
????0.2];
B2=[0.1;
????0.2];
B3=[0.1;
????0.2];
D1=[0.1;
????0.2];
D2=[0.1;
????0.2];
D3=[0.1;
????0.2];
C11=[0.1?2];
C12=[0.1?2];
C13=[0.1?2];

C21=[0.1?2];
C22=[0.1?2];
C23=[0.1?2];

T=[1?0;
????-0.05?0.5];


Abar11=[-0.515?0.1;
????????0??1];
Abar12=[0.205?0.1;
????????0??1];
Abar13=[1.01?0.1;
????????0??1];
Abar21=[0.0485?0.41];
Abar22=[1.9905?0.41];
Abar23=[4.096?0.41];
Dbar11=[0.41?0];
Dbar12=[0.41?0];
Dbar13=[0.41?0];
Dbar21=[0.1?0;
????????0??1];
Dbar22=[0.1?0;
????????0??1];
Dbar23=[0.1?0;
????????0??1];
????
Gbar1=[0.2439;
???????3.7367];
Gbar2=[0.2439;
???????3.7366];
Gbar3=[0.2439;
???????3.7365];
???
Ak1=[0.226?0.1265;
??????0.1322?0.1337];
Ak2=[-0.0345?-0.0059;
?????-0.1637?0.0085];
Ak3=[-0.3?-0.129;
?????-0.4638?-0.1132];
Bk1=[-0.0535;
?????-0.2393];
Bk2=[0.0338;
?????-0.0878];
Bk3=[0.0459;
?????-0.0403];
Ck1=[5.6344?11.2687];
Ck2=[8?16];
Ck3=[7.3786?14.7573];


A111=-0.515;
A121=0.15;
A211=0.0485;
A221=1.015;

A112=0.205;
A122=-0.05;
A212=1.9905;
A222=0.295;

A113=1.01;
A123=-0.1;
A213=4.096;
A223=0.04;

B11=0.1;
B21=0.41;
B12=0.1;
B22=0.41;
B13=0.1;
B23=0.41;


D11=0.1;
D12=0.1;
D13=0.1;
D21=0.41;
D22=0.41;
D23=0.41;


G1=0.2439;
G2=0.2439;
G3=0.2439;

F1=3.7367;
F2=3.7366;
F3=3.7365;



alph1=0.35;
alph2=0.25;
alph3=0.4;




x0=[1;2];
x（:1）=x0;
xhat（:1）=x0;
fhat（:1）=0;
z1（:1）=0;
zhat1（:1）=0;

dt=0.01;
t=10;

for?k=1:t/dt
????
????
????if?k<1/dt
????????f（:k）=0;
????else
????????f（:k）=2*sin（0.5*k*dt）+3;
????end
????
????
????%w（:k）=0;
???%w（:k）=-0.1*sin（k*dt）;
???w（:k）=1/（1+（k*dt）*（k*dt））;
????
????u（:k）=alph1*Ck1*xhat（:k）+alph2*Ck2*xhat（:k）+alph3*Ck3*xhat（:k）-fhat（:k）;
????
????x（:k+1）=alph1*（A1*x（:k）+B1*（u（:k）+f（:k））+D1*w（:k））+alph2*（A2*x（:k）+B2*（u（:k）+f（:k））+D2*w（:k））+alph3*（A3*x（:k）+B3*（u（:k）+f（:k））+D3*w（:k））;
????y（:k）=alph1*C11*x（:k）+alph2*C12*x（:k）+alph3*C13*x（:k）;
????zw（:k）=alph1*C21*x（:k）+alph2*C22*x（:k）+alph3*C23*x（:k）;
????
????
????
????xhat（:k+1）=alph1*Ak1*xhat（:k）+alph2*Ak2*xhat（:k）+alph3*Ak3*xhat（:k）+alph1*Bk1*y（:k）+alph2*Bk2*y（:k）+alph3*Bk3*y（:k）;
????
????
????eta（:k）=（alph1*A121+alph2*A122+alph3*A123）*y（:k）+（alph1*B11+alph2*B12+alph3*B13）*u（:k）;
????
????z1（:k+1）=（alph1*A111+alph2*A112+alph3*A113）*z1（:k）+eta（:k）+（alph1*B11+alph2*B12+alph3*B13）*f（:k）+（alph1*D11+alph2*D12+alph3*D13）*w（:k）;
????
????
????
????
????rou（:k）=（alph1*A211+alph2*A212+alph3*A213）*z1（:k）+（alph1*B21+alph2*B22+alph3*B23）*f（:k）+（alph1*D21+alph2*D22+alph3*D23）*w（:k）;
????
????rouhat（:k）=（alph1*A211+alph2*A212+alph3*A213）*zhat1（:k）+（alph1*B21+alph2*B22+alph3*B23）*fhat（:k）;
????zhat1（:k+1）=（alph1*A111+alph2*A112+alph3*A113）*zhat1（:k）+eta（:k）+（alph1*B11+alph2*B12+alph3*B13）*fhat（:k）-（alph1*G1+alph2*G2+alph3*G3）*（rouhat（:

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件????????3456??2018-05-15?15:33??saexample1.m
?????文件????????3301??2018-05-14?11:14??saexample1_unfault.m
?????文件????????3527??2018-05-14?11:14??saexample2.m