Global Index (short | long) | Local contents | Local Index (short | long)
[thm,yhat,p,phi] = rarx(z,nn,adm,adg,th0,p0,phi)
RARX Computes estimates recursively for an ARX model. [THM,YHAT] = RARX(Z,NN,adm,adg) Z: The output-input data z=[y u] NN : NN=[na nb nk], The orders and delay of an ARX model (see also ARX) adm: Adaptation mechanism. adg: Adaptation gain adm='ff', adg=lam: Forgetting factor algorithm, with forg factor lam adm='kf', adg=R1: The Kalman filter algorithm with R1 as covariance matrix of the parameter changes per time step adm='ng', adg=gam: A normalized gradient algorithm, with gain gam adm='ug', adg=gam: An Unnormalized gradient algorithm with gain gam THM: The resulting estimates. Row k contains the estimates "in alpha- betic order" corresponding to data up to time k (row k in Z) YHAT: The predicted values of the outputs. Row k corresponds to time k. Initial value of parameters(TH0) and of "P-matrix" (P0) can be given by [THM,YHAT,P] = RARX(Z,NN,adm,adg,TH0,P0) Initial and last values of auxiliary data vector phi are obtained by [THM,YHAT,P,phi]=RARX(Z,NN,adm,adg,TH0,P0,phi0). See also RARMAX, ROE, RBJ, RPEM and RPLR.
This function is called by | |
---|---|
function [thm,yhat,p,phi] = rarx(z,nn,adm,adg,th0,p0,phi) % L. Ljung 10-1-89 % Copyright (c) 1986-98 by The MathWorks, Inc. % $Revision: 2.3 $ $Date: 1997/12/02 03:43:50 $ if nargin < 4 disp('Usage: MODEL_PARS = RARX(DATA,ORDERS,ADM,ADG)') disp(' [MODEL_PARS,YHAT,COV,PHI] = RARX(DATA,ORDERS,ADM,ADG,TH0,COV0,PHI)') disp(' ADM is one of ''ff'', ''kf'', ''ng'', ''ug''.') return end adm=lower(adm(1:2)); if ~(adm=='ff'|adm=='kf'|adm=='ng'|adm=='ug') error('The argument ADM should be one of ''ff'', ''kf'', ''ng'', or ''ug''.') end [nz,ns]=size(z); if ns==1,if length(nn)~=1, error('For a time series nn should be a scalar nn=na!') end,end if 2*ns-1~=length(nn) error('Incorrect number of orders specified in nn. nn=[na nb nk]') end na=nn(1);if ns>1,nb=nn(2:ns);nk=nn(ns+1:2*ns-1);else nk=1;nb=0;end nu=1; if any(nk<1) error('Sorry, this routine requires nk>0; Shift input sequence if necessary!') end d=na+sum(nb); nbm=nb+nk-1;ncbm=na+cumsum([0 nbm]); ii=[1:na+sum(nbm)]; i=[1:na]; for ku=1:ns-1,i=[i ncbm(ku)+nk(ku):ncbm(ku+1)];end dm=na+sum(nbm); if nargin<7, phi=zeros(dm,1);end if nargin<6, p0=10000*eye(d);end if nargin<5, th0=eps*ones(d,1);end if isempty(phi),phi=zeros(dm,1);end if isempty(p0),p0=10000*eye(d);end if isempty(th0),th0=eps*ones(d,1);end if length(th0)~=d, error('The length of th0 must equal the number of estimated parameters!'),end [th0nr,th0nc]=size(th0);if th0nr<th0nc, th0=th0';end p=p0;th=th0; if adm(1)=='f', R1=zeros(d,d);lam=adg;end if adm(1)=='k', [sR1,SR1]=size(adg); if sR1~=d | SR1~=d error(['The R1 matrix should be a square matrix with dimension ',... 'equal to number of parameters.']) end R1=adg;lam=1; end if adm(2)=='g', grad=1;else grad=0;end for kcou=1:nz yh=phi(i)'*th; epsi=z(kcou,1)-yh; if ~grad,K=p*phi(i)/(lam + phi(i)'*p*phi(i)); p=(p-K*phi(i)'*p)/lam+R1; else K=adg*phi(i);end if adm(1)=='n', K=K/(eps+phi(i)'*phi(i));end th=th+K*epsi; epsilon=z(kcou,1)-th'*phi(i); phi(ii+1)=phi(ii); if na>0,phi(1)=-z(kcou,1);end if any(ncbm>0),phi(ncbm(1:ns-1)+1)=z(kcou,2:ns)';end thm(kcou,:)=th';yhat(kcou)=yh; end yhat=yhat';