Fixed typo

b273c7e9 · sleepingAgain · GitHub · b00adb27 · b273c7e9
Unverified Commit b273c7e9 authored 7 years ago by sleepingAgain Committed by GitHub 7 years ago
--- a/Appendix-D-HInfinity-Filters.ipynb
+++ b/Appendix-D-HInfinity-Filters.ipynb
@@ -269,7 +269,7 @@
   "cell_type": "markdown",
   "metadata": {},
   "source": [
-    "I am still mulling over how to write this chapter. In the meantime, Professor Dan Simon at Clevant State University has an accessible introduction here:\n",
+    "I am still mulling over how to write this chapter. In the meantime, Professor Dan Simon at Cleveland State University has an accessible introduction here:\n",
    "\n",
    "http://academic.csuohio.edu/simond/courses/eec641/hinfinity.pdf\n",
    "\n",

 %% Cell type:markdown id: tags:
 [Table of Contents](http://nbviewer.ipython.org/github/rlabbe/Kalman-and-Bayesian-Filters-in-Python/blob/master/table_of_contents.ipynb)
 %% Cell type:markdown id: tags:
 # H Infinity filter
 %% Cell type:code id: tags:
 ``` python
 #format the book
 %matplotlib inline
 from __future__ import division, print_function
 from book_format import load_style
 load_style()
 ```
 %% Output
    <IPython.core.display.HTML object>
 %% Cell type:markdown id: tags:
-I am still mulling over how to write this chapter. In the meantime, Professor Dan Simon at Clevant State University has an accessible introduction here:
+I am still mulling over how to write this chapter. In the meantime, Professor Dan Simon at Cleveland State University has an accessible introduction here:
 http://academic.csuohio.edu/simond/courses/eec641/hinfinity.pdf
 In one sentence the $H_\infty$ (H infinity) filter is like a Kalman filter, but it is robust in the face of non-Gaussian, non-predictable inputs.
 My FilterPy library contains an H-Infinity filter. I've pasted some test code below which implements the filter designed by Simon in the article above. Hope it helps.
 %% Cell type:code id: tags:
 ``` python
 from __future__ import (absolute_import, division, print_function,
                        unicode_literals)
 from numpy import array
 import matplotlib.pyplot as plt
 from filterpy.hinfinity import HInfinityFilter
 dt = 0.1
 f = HInfinityFilter(2, 1, dim_u=1, gamma=.01)
 f.F = array([[1., dt],
             [0., 1.]])
 f.H = array([[0., 1.]])
 f.G = array([[dt**2 / 2, dt]]).T
 f.P = 0.01
 f.W = array([[0.0003, 0.005],
             [0.0050, 0.100]])/ 1000  #process noise
 f.V = 0.01
 f.Q = 0.01
 u = 1. #acceleration of 1 f/sec**2
 xs = []
 vs = []
 for i in range(1,40):
    f.update (5)
    #print(f.x.T)
    xs.append(f.x[0,0])
    vs.append(f.x[1,0])
    f.predict(u=u)
 plt.subplot(211)
 plt.plot(xs)
 plt.title('position')
 plt.subplot(212)
 plt.plot(vs)
 plt.title('velocity');
 ```
 %% Output