www.pudn.com > programradarsystemdisign.zip > fig9_20.m

clear all 
eps = 0.0000001; 
npts = 5000; 
del = 1./ 5000.; 
t = 0. : del : 1.; 
% generate input sequence 
inp = 1.+ t.^3 + .5 .*t.^2 + cos(2.*pi*5 .* t) ; 
% read the intial estimate for the state vector 
X0 = [2,.1,.01]'; 
% this is the update interval in seconds 
T = 100. * del; 
% this is the value of the smoothing coefficient 
xi = .1; 
[residual, estimate] = ghk_tracker (X0, xi, inp, npts, T, eps); 
figure(1) 
plot (residual(1:500),'k') 
xlabel ('Sample number') 
ylabel ('Residual error') 
grid 
figure(2) 
NN = 4999.; 
n = 1:NN; 
plot(n,estimate(1:NN),'k',n,inp(1:NN),'k--') 
xlabel ('Sample number') 
ylabel ('Position') 
legend ('Estimated','Input') 
figure(3) 
plot(inp,'k') 
xlabel ('Sample number') 
ylabel ('Position')