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The main references for the discussion of the complementary lter are [30, 31] According to [31], the principle of the complementary lter originates in [141] even though the term complementary lter appears rst in [3] Exercise 74 considers an simpli ed aircraft instrumented landing system (ILS) The ILS was the topic of [3, 141] and was considered in Example 46 in [31] The ILS model and parameters have been altered to t the context of this text The Wiener lter problem is discussed in [31, 139]

2:

Exercise 71 Consider the following two sensed quantities:

2 2 are available at 100Hz, where n1 N (0, 1 ), n2 N (0, 2 ), and b is a 2 | | : scalar Gauss-Markov process with Rb ( ) = 3 e b = b + 2 n3 2 with n3 N (0, 3 ), and > 0 The symbol represents an angle and represents the angular rate The kinematic relationship between and is = , as in Example 42

FIGURE 2-19

1 De ne the mechanization equations by which u would be used to compute 2 De ne the error state to be x = [ , b] Using the complementary lter approach, de ne the error state dynamic and measurement equations

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July 1800 call at 194 if the market was still around 18 If the underlying was at 2000, we could look at the 1600 call option and guess at theoretical price of around 295 Option models are more accurate, and you can specify dates, prices, volatility, and so on, but this is a simple on-the- y method to use to calculate your option value

In terms of functionality, Enterprise Manager has now grown to the point where you can do practically anything with this tool that you can do with any other management tool, even basic command-line utilities The screenshot shown in Figure 2-19 shows a simple list of the areas that you can view and modify for an Oracle database instance through Enterprise Manager In both of these figures, you can see another key facet of Enterprise Manager The user interface for Enterprise Manager is browser-based, and much of the information displayed also acts as a link to more detail on the area summarized by the information To show one more example, Figure 2-20 illustrates the type of detail you can get about a SQL query, which can be reached from many different pages that display information about SQL, from a historical listing to a list of the SQL statements that have used the most resources With this depth of functionality, Enterprise Manager has also greatly expanded the breadth of management coverage With Enterprise Manager, you can now manage software in the middle tier, applications and business

3 Assume that 1 = 0005 rad , 2 = 10 , 3 = 00005 rad/s , = s Hz 1 1 sec , and that the angle sensor is sampled at 05Hz 300

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FIGURE 2-20

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