# CatchMe_Load_Plot - Z_hat(1) = Aim_0(1); for k = 1:Kmax-1...

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% CatchMe_Analysis.m % load Result_0_Preview Ball_pos Aim_pos Ball_0 = Ball_pos; Aim_0 = Aim_pos; B load Result_Pnt3_Preview Ball_pos Aim_pos Ball_p3 = Ball_pos; Aim_p3 = Aim_pos; B Kmax = length(Ball_0) K = 1:Kmax; figure(3) subplot(2,1,1); plot(K,Ball_0,K,Aim_0); grid; subplot(2,1,2); plot(K,Ball_p3,K,Aim_p3); grid; t % An example of analysis % Zero preview data from 400 to 750 looks consistent U = Ball_0(401:700)'; Y = Aim_0(401:700)'; n = length(U); U %-------------------------------------------------------------- % Use a 1st order dynamic model y(k+1) = -a*y(k) + b*u(k) + c Z = Y(2:n); M = [-Y(1:n-1) U(1:n-1) ones(n-1,1)]; Theta = (M'*M)\M'*Z; % LSE Estimate of the model parameters a_hat = Theta(1), b_hat = Theta(2), c_hat = Theta(3) a % Reconstruct Aim using the estimated model parameters

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Unformatted text preview: Z_hat(1) = Aim_0(1); for k = 1:Kmax-1 Z_hat(k+1) = -a_hat*Z_hat(k) + b_hat*Ball_0(k) + c_hat; end figure(4); subplot(2,1,1); plot(K,Ball_0, K,Aim_0, K,Z_hat); grid; title('Model y(k+1) = -a*y(k) + b*u(k) + c'); t % ----------------------------------------% % Use a DELAYED 1st order dynamic model y(k+1) = -a*y(k) + b*u(k-nd) + c nd = 20 Z = Y(20+2:n); M = [-Y(20+1:n-1) U(1:n-1-nd) ones(n-1-nd,1)]; Theta = (M'*M)\M'*Z; % LSE Estimate of the model parameters a_hat = Theta(1), b_hat = Theta(2), c_hat = Theta(3) a % Reconstruct Aim using the estimated model parameters Z_hat(1:nd) = Aim_0(1:nd); for k = 1:Kmax-1-nd Z_hat(k+1+nd) = -a_hat*Z_hat(k+nd) + b_hat*Ball_0(k) + c_hat; end e subplot(2,1,2); plot(K,Ball_0, K,Aim_0, K,Z_hat); grid; title('Model y(k+1) = -a*y(k) + b*u(k-nd) + c'); t t...
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## This note was uploaded on 04/17/2011 for the course SYS 635 taught by Professor Re during the Spring '11 term at Albany College of Pharmacy and Health Sciences.

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CatchMe_Load_Plot - Z_hat(1) = Aim_0(1); for k = 1:Kmax-1...

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