Zero Dynamics

Classic zero dynamic used in Kalman filtering.

Collaboration diagram for Zero Dynamics:

ZeroDynamics implements both the SimObject and KalmanObject interface. The dynamics are \(\dot x = 0\) and are mainly useful for Kalman filtering.

Author

Joakim Haugen

Example configuration excerpt

<Lib
  LibName    = "fhsim_base"
  SimObject  = "Kalman/ZeroDynamics"
  Name       = "Current"
  Dimension  = "3"
  P0         = "5e-2,5e-2,1e-4"
  Q          = "1e-4,1e-4,1e-5"
/>
...
<InitialCondition
  Current.State = "0,0,0"
/>

Input Ports

There are no input ports

Output Ports

Name	Width	Description
State	n	The value of the state vector.

Configuration parameters

Name	Width	Description
Dimension	1	Number of states \(n\) in the object .
P0	n	Diagonal elements of the initial matrix \(P_0\).
Q	n	Diagonal elements of the noise covariance \(Q\).

Initial conditions

By specifying no initial conditions, the whole state vector is set to 0.

Name	Width	Description
State	n	Value for each entry of state vector.

Full example file

<Contents>
  <OBJECTS>
    <Lib
      LibName = "fhsim_base"
      SimObject = "Kalman/ZeroDynamics"
      Name = "Current"
      Dimension = "3"
      P0 = "5e-2,5e-2,1e-4"
      Q = "1e-4,1e-4,1e-5"
    />
 
  </OBJECTS>
 
  <INTERCONNECTIONS>
  </INTERCONNECTIONS>
 
  <INITIALIZATION>
    <InitialCondition
    Current.State = "0,0,0"
    />
  </INITIALIZATION>
 
  <INTEGRATION>
    <Engine
    IntegratorMethod="0"
    NumCores="1"
    TOutput="0, 0:1e-1:Inf, 150"
    stepsize ="4e-6"
    HMin="0.5"
    FileOutput="objects:ports"
  />
 
  </INTEGRATION>
</Contents>

This SimObject is referred to as Kalman/ZeroDynamics