function?AddHinfEx1

Q?=?1;
R?=?1;
thetaMin?=?0;
thetaMax?=?1;
dtheta?=?0.01;
KArr?=?[];
PArr?=?[];
for?theta?=?thetaMin?:?dtheta?:?thetaMax
????c（1）?=?theta^2?-?theta^4?*?R;
????c（2）?=?Q?*?theta^4?*?R?-?Q?*?theta^2?+?R?*?theta^2?-?1;
????c（3）?=?Q?*?（1?-?2?*?theta^2?*?R）;
????c（4）?=?Q?*?R;
????Pall?=?roots（c）;
????%?Find?a?real?positive?root?of?the?ARE?that?results?in?a?stable?estimator.
????P?=?inf;
????for?i?=?1?:?length（Pall）
????????if?abs（theta^2?*?Pall（i）?-?1）?????????????continue;
????????end
????????Pa?=?Pall（i）?/?（1?-?theta^2?*?Pall（i））;
????????V?=?R?+?Pa;
????????Fhat?=?1?-?Pa?/?V;
????????if?isreal（Pall（i））?&&?（Pall（i）?>=?0）?&&?（Pall（i）?????????????P?=?Pall（i）;
????????????K?=?Pa?/?V;
????????end
????end
????if?P?==?inf
????????thetaMax?=?theta?-?dtheta;
????????break;
????end
????PArr?=?[PArr?P];
????KArr?=?[KArr?K];
end

close?all;
theta?=?thetaMin?:?dtheta?:?thetaMax;

figure;
plot（theta?KArr）;?
set（gca‘FontSize‘12）;?set（gcf‘Color‘‘White‘）;
xlabel（‘H_\infty?performance?bound?\theta‘）;?ylabel（‘Estimator?gain?K‘）;

figure;
plot（theta?PArr）;?
set（gca‘FontSize‘12）;?set（gcf‘Color‘‘White‘）;
xlabel（‘H_\infty?performance?bound?\theta‘）;?ylabel（‘Kalman?performance?bound?P‘）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???24079381??2017-11-02?17:26??最優狀態估計\Optimal?State?Estimation?Kalman?H-infinity?and?Nonlinear?Approaches.pdf

?????文件?????170364??2018-12-20?11:06??最優狀態估計\【英文版勘誤】最優狀態估計勘誤.pdf

?????文件?????????47??2018-12-20?11:33??最優狀態估計\官網.txt

?????文件??????89785??2018-12-20?11:35??最優狀態估計\教程和示例代碼\AppendixC.pdf

?????文件?????231841??2018-12-20?11:11??最優狀態估計\教程和示例代碼\ESDNonlinear.pdf

?????文件?????442575??2018-12-20?11:11??最優狀態估計\教程和示例代碼\hinfinity.pdf

?????文件?????435748??2018-12-20?11:10??最優狀態估計\教程和示例代碼\kalman.pdf

?????文件???????1291??2018-12-20?11:22??最優狀態估計\教程和示例代碼\代碼\12_1_AddHinfEx1.m

?????文件???????3167??2018-12-20?11:18??最優狀態估計\教程和示例代碼\代碼\ex_10_1_Multiple.m

?????文件???????6755??2018-12-20?11:19??最優狀態估計\教程和示例代碼\代碼\ex_10_2_Reduced.m

?????文件???????2095??2018-12-20?11:19??最優狀態估計\教程和示例代碼\代碼\ex_10_3_Schmidt.m

?????文件???????5057??2018-12-20?11:19??最優狀態估計\教程和示例代碼\代碼\ex_10_4_Robust.m

?????文件????????508??2018-12-20?11:21??最優狀態估計\教程和示例代碼\代碼\ex_11_2_HinfEx1a.m

?????文件???????1685??2018-12-20?11:21??最優狀態估計\教程和示例代碼\代碼\ex_11_2_HinfEx1b.m

?????文件????????360??2018-12-20?11:21??最優狀態估計\教程和示例代碼\代碼\ex_11_3_HinfContEx1a.m

?????文件???????2887??2018-12-20?11:21??最優狀態估計\教程和示例代碼\代碼\ex_11_3_HinfContEx1b.m

?????文件???????5816??2018-12-20?11:22??最優狀態估計\教程和示例代碼\代碼\ex_12_2_AddHinfEx3.m

?????文件??????10137??2018-12-20?11:22??最優狀態估計\教程和示例代碼\代碼\ex_12_3_AddHinfConstr.m

?????文件???????3881??2018-12-20?11:22??最優狀態估計\教程和示例代碼\代碼\ex_12_3_AddHinfConstrMonte.m

?????文件???????4727??2018-12-20?11:23??最優狀態估計\教程和示例代碼\代碼\ex_13_1_MotorKalman.m

?????文件???????3000??2018-12-20?11:23??最優狀態估計\教程和示例代碼\代碼\ex_13_2_ExtendedBody.m

?????文件???????3106??2018-12-20?11:23??最優狀態估計\教程和示例代碼\代碼\ex_13_2_HybridBody.m

?????文件??????14260??2018-12-20?11:23??最優狀態估計\教程和示例代碼\代碼\ex_13_3_Hybrid2.m

?????文件???????2016??2018-12-20?11:24??最優狀態估計\教程和示例代碼\代碼\ex_13_4_Parameter.m

?????文件???????2917??2018-12-20?11:24??最優狀態估計\教程和示例代碼\代碼\ex_14_1_UnscentedEx.m

?????文件???????5132??2018-12-20?11:24??最優狀態估計\教程和示例代碼\代碼\ex_14_2_HybridUKF.m

?????文件???????8046??2018-12-20?11:25??最優狀態估計\教程和示例代碼\代碼\ex_14_3_HybridSimplex.m

?????文件???????3582??2018-12-20?11:25??最優狀態估計\教程和示例代碼\代碼\ex_15_1_ParticleEx1.m

?????文件???????5816??2018-12-20?11:25??最優狀態估計\教程和示例代碼\代碼\ex_15_2_ParticleEx2.m

?????文件???????6115??2018-12-20?11:25??最優狀態估計\教程和示例代碼\代碼\ex_15_3_ParticleEx3.m

............此處省略25個文件信息