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13
<refentry xmlns="http://docbook.org/ns/docbook" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:svg="http://www.w3.org/2000/svg" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:db="http://docbook.org/ns/docbook" version="5.0-subset Scilab" xml:lang="en" xml:id="inistate">
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<refname>inistate</refname>
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<refpurpose> Estimates the initial state of a discrete-time system</refpurpose>
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<title>Calling Sequence</title>
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<synopsis>X0 = inistate(SYS,Y,U,TOL,PRINTW)
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X0 = inistate(A,B,C,Y,U);
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[x0,V,rcnd] = inistate(SYS,Y,U,TOL,PRINTW)
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<title>Arguments</title>
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<para>given system, syslin(dt,A,B,C,D)</para>
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<para>the output of the system</para>
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<para>the input of the system</para>
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<para>TOL is the tolerance used for estimating the rank of matrices. If TOL > 0, then the given value of TOL is used as a lower bound for the reciprocal condition number.</para>
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Default: prod(size(matrix))*epsilon_machine where epsilon_machine is the relative machine precision.
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<para>PRINTW is a switch for printing the warning messages.</para>
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<para>1: print warning messages;</para>
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<para>0: do not print warning messages.</para>
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<para>the estimated initial state vector</para>
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<para>orthogonal matrix which reduces the system state matrix A to a real Schur form</para>
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<para>estimate of the reciprocal condition number of the coefficient matrix of the least squares problem solved.</para>
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<title>Description</title>
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inistate Estimates the initial state of a discrete-time system, given the
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(estimated) system matrices, and a set of input/output data.
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X0 = inistate(SYS,Y,U,TOL,PRINTW) estimates the initial state X0 of
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the discrete-time system SYS = (A,B,C,D), using the output data Y
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and the input data U. The model structure is :
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<programlisting role=""><![CDATA[
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<refname>inistate</refname>
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<refpurpose> Estimates the initial state of a discrete-time system</refpurpose>
19
<title>Calling Sequence</title>
20
<synopsis>X0 = inistate(SYS,Y,U,TOL,PRINTW)
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X0 = inistate(A,B,C,Y,U);
24
[x0,V,rcnd] = inistate(SYS,Y,U,TOL,PRINTW)
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<title>Arguments</title>
33
<para>given system, syslin(dt,A,B,C,D)</para>
39
<para>the output of the system</para>
45
<para>the input of the system</para>
51
<para>TOL is the tolerance used for estimating the rank of matrices. If TOL > 0, then the given value of TOL is used as a lower bound for the reciprocal condition number.</para>
53
Default: prod(size(matrix))*epsilon_machine where epsilon_machine is the relative machine precision.
60
<para>PRINTW is a switch for printing the warning messages.</para>
65
<para>1: print warning messages;</para>
71
<para>0: do not print warning messages.</para>
83
<para>the estimated initial state vector</para>
89
<para>orthogonal matrix which reduces the system state matrix A to a real Schur form</para>
95
<para>estimate of the reciprocal condition number of the coefficient matrix of the least squares problem solved.</para>
101
<title>Description</title>
103
inistate Estimates the initial state of a discrete-time system, given the
104
(estimated) system matrices, and a set of input/output data.
107
X0 = inistate(SYS,Y,U,TOL,PRINTW) estimates the initial state X0 of
108
the discrete-time system SYS = (A,B,C,D), using the output data Y
109
and the input data U. The model structure is :
111
<programlisting role=""><![CDATA[
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x(k+1) = Ax(k) + Bu(k), k >= 1,
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y(k) = Cx(k) + Du(k),
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]]></programlisting>
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The vectors y(k) and u(k) are transposes of the k-th rows of Y and U,
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Instead of the first input parameter SYS (an syslin object), equivalent
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information may be specified using matrix parameters, for instance,
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X0 = inistate(A,B,C,Y,U); or X0 = inistate(A,C,Y);
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[x0,V,rcnd] = inistate(SYS,Y,U,TOL,PRINTW) returns, besides x0,
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the orthogonal matrix V which reduces the system state matrix A to
127
a real Schur form, as well as an estimate of the reciprocal condition
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number of the coefficient matrix of the least squares problem solved.
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<refsection role="see also">
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<title>See Also</title>
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<simplelist type="inline">
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<link linkend="findBD">findBD</link>
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<link linkend="findx0BD">findx0BD</link>
116
The vectors y(k) and u(k) are transposes of the k-th rows of Y and U,
120
Instead of the first input parameter SYS (an syslin object), equivalent
121
information may be specified using matrix parameters, for instance,
122
X0 = inistate(A,B,C,Y,U); or X0 = inistate(A,C,Y);
125
[x0,V,rcnd] = inistate(SYS,Y,U,TOL,PRINTW) returns, besides x0,
126
the orthogonal matrix V which reduces the system state matrix A to
127
a real Schur form, as well as an estimate of the reciprocal condition
128
number of the coefficient matrix of the least squares problem solved.
131
<refsection role="see also">
132
<title>See Also</title>
133
<simplelist type="inline">
135
<link linkend="findBD">findBD</link>
138
<link linkend="findx0BD">findx0BD</link>