├── .checkpatch.conf ├── .clang-format ├── .clang-tidy ├── .github └── workflows │ └── ci.yml ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── CODEOWNERS ├── LICENSE ├── README.md ├── cmake ├── clang-tidy.cmake └── configure_tidy.cmake ├── data ├── HangingLoad.csv ├── MotorRotation.csv └── MultivariableCylinders.csv ├── doc ├── CMakeLists.txt ├── Doxyfile.in ├── ai │ ├── a_star.adoc │ ├── index.adoc │ └── inpolygon.adoc ├── contents.toml.in ├── dynamics │ ├── c2d.adoc │ ├── index.adoc │ ├── kalman.adoc │ ├── lqi.adoc │ ├── mpc.adoc │ ├── mrac.adoc │ ├── pid.adoc │ ├── stability.adoc │ └── theta2ss.adoc ├── filter │ ├── filtfilt.adoc │ ├── index.adoc │ ├── mcs.adoc │ └── sqr_ukf.adoc ├── img │ ├── motion_profile_1.jpg │ ├── motion_profile_2.jpg │ ├── motion_profile_3.jpg │ └── motion_profile_4.jpg ├── index.adoc ├── linalg │ ├── add.adoc │ ├── balance.adoc │ ├── chol.adoc │ ├── cholupdate.adoc │ ├── det.adoc │ ├── dlyap.adoc │ ├── eig.adoc │ ├── eig_sym.adoc │ ├── expm.adoc │ ├── hankel.adoc │ ├── index.adoc │ ├── inv.adoc │ ├── linsolve_chol.adoc │ ├── linsolve_gauss.adoc │ ├── linsolve_lower_triangular.adoc │ ├── linsolve_lup.adoc │ ├── linsolve_markov.adoc │ ├── linsolve_qr.adoc │ ├── linsolve_upper_triangular.adoc │ ├── lup.adoc │ ├── mul.adoc │ ├── nonlinsolve.adoc │ ├── norm.adoc │ ├── pinv.adoc │ ├── qr.adoc │ ├── sum.adoc │ ├── svd_golub_reinsch.adoc │ ├── svd_jacobi_one_sided.adoc │ └── tran.adoc ├── misc │ ├── cat.adoc │ ├── constrain.adoc │ ├── cut.adoc │ ├── index.adoc │ ├── insert.adoc │ ├── mean.adoc │ ├── print.adoc │ ├── randn.adoc │ ├── sign.adoc │ └── stddev.adoc ├── model │ ├── dc_motor.adoc │ └── index.adoc ├── motion │ ├── index.adoc │ └── motion_profile.adoc ├── motor │ ├── clarke.adoc │ ├── index.adoc │ └── park.adoc ├── optimization │ ├── index.adoc │ └── linprog.adoc ├── packages.toml.in ├── sysid │ ├── index.adoc │ ├── okid_era.adoc │ ├── rls.adoc │ └── sqr_ukf_id.adoc └── theme │ ├── README.adoc │ ├── Rakefile │ ├── fonts │ ├── ClearSans-Bold.ttf │ ├── ClearSans-BoldItalic.ttf │ ├── ClearSans-Italic.ttf │ ├── ClearSans-LICENSE-2.0.txt │ ├── ClearSans-Light.ttf │ ├── ClearSans-Medium.ttf │ ├── ClearSans-MediumItalic.ttf │ ├── ClearSans-Regular.ttf │ ├── ClearSans-Thin.ttf │ ├── Courier Prime Sans Bold Italic.ttf │ ├── Courier Prime Sans Bold.ttf │ ├── Courier Prime Sans Italic.ttf │ ├── Courier Prime Sans.ttf │ └── CourierPrimeSans-LICENSE.md │ ├── icons │ ├── .gitignore │ └── .placeholder │ ├── images │ └── .gitignore │ └── tutorial.yml ├── include └── control │ ├── ai.h │ ├── dynamics.h │ ├── filter.h │ ├── linalg.h │ ├── misc.h │ ├── model.h │ ├── model │ └── dc_motor.h │ ├── motion.h │ ├── motor.h │ ├── optimization.h │ └── sysid.h ├── integrity ├── DocChecker.py ├── ai.robot ├── dynamics.robot ├── filter.robot ├── linalg.robot ├── misc.robot ├── model.robot ├── module.robot ├── motion.robot ├── motor.robot ├── optimization.robot ├── spdx.robot ├── sysid.robot └── top-level.robot ├── octave ├── control │ ├── README.md │ ├── acker.m │ ├── allmargin.m │ ├── append.m │ ├── are.m │ ├── balreal.m │ ├── bode.m │ ├── bodemag.m │ ├── c2d.m │ ├── c2dt.m │ ├── covar.m │ ├── ctrb.m │ ├── d2c.m │ ├── d2d.m │ ├── damp.m │ ├── db2mag.m │ ├── dbdrop.m │ ├── dcgain.m │ ├── evalfr.m │ ├── feedback.m │ ├── findmaxgain.m │ ├── freqresp.m │ ├── gensig.m │ ├── gram.m │ ├── hsvd.m │ ├── imc.m │ ├── impulse.m │ ├── initial.m │ ├── lmpc.m │ ├── loop.m │ ├── lqe.m │ ├── lqgreg.m │ ├── lqi.m │ ├── lqr.m │ ├── lsim.m │ ├── lyap.m │ ├── mag2db.m │ ├── margin.m │ ├── minreal.m │ ├── modred.m │ ├── nlsim.m │ ├── nyquist.m │ ├── obsv.m │ ├── pade.m │ ├── parallel.m │ ├── pid.m │ ├── pipd.m │ ├── pole.m │ ├── pzmap.m │ ├── ramp.m │ ├── referencegain.m │ ├── reg.m │ ├── rlocfind.m │ ├── rlocus.m │ ├── satlsim.m │ ├── sensitivity.m │ ├── series.m │ ├── sgrid.m │ ├── sigma.m │ ├── smithpredict.m │ ├── ss.m │ ├── ss2tf.m │ ├── step.m │ ├── tf.m │ ├── tf2ss.m │ ├── tzero.m │ ├── zero.m │ └── zpk.m └── systemid │ ├── eradc.m │ ├── filtfilt2.m │ ├── ica.m │ ├── idbode.m │ ├── moesp.m │ ├── n4sid.m │ ├── ocid.m │ ├── okid.m │ ├── pimoesp.m │ ├── rls.m │ ├── rpca.m │ ├── sindy.m │ ├── spa.m │ ├── sr_ukf_parameter_estimation.m │ ├── sr_ukf_state_estimation.m │ └── svm.m ├── pictures ├── AppliedSystemIdentification.jpeg ├── ERADC_Result.png ├── ERADC_System.png ├── FILTFILT2_Result.png ├── FestoBench.jpg ├── ICA_After.png ├── ICA_Before.png ├── ICA_Mixed_Signals.png ├── IDBODE_Result.png ├── IDBODE_System.png ├── Markering_024.png ├── OCID_Result.png ├── OCID_System.png ├── OKID_Result.png ├── OKID_System.jpg ├── PLC system.jpg ├── RLS_Result.png ├── RLS_System.jpg ├── RPCA_Bob.png ├── RolfJohanssonsBok.jpg ├── SINDY_Result.png ├── SINDY_Result_multivariable.png ├── SPA_Result.png ├── SR-UKF │ ├── sr-ukf-paper.pdf │ ├── sr-ukf-parameter-estimation.m │ ├── sr-ukf-parameter-estimation.png │ ├── sr-ukf-state-estimation.m │ └── sr-ukf-state-estimation.png ├── SR_UKF_parameter_estimation.png ├── SR_UKF_state_estimation.png ├── SVM_c_header.png ├── SVM_c_source.png ├── SVM_plot.png ├── SVM_results.png ├── Skärmbild från 2017-11-09 00-00-55.png ├── Skärmbild från 2017-11-09 00-01-11.png ├── Skärmbild från 2017-11-09 00-04-32.png ├── Skärmbild från 2017-11-09 00-04-59.png ├── Skärmbild från 2017-11-09 00-06-29.png ├── Skärmbild från 2017-11-09 00-06-41.png ├── Skärmbild från 2017-11-09 00-07-36.png ├── Skärmbild från 2017-11-09 00-08-23.png ├── Skärmbild från 2017-11-09 00-09-19.png ├── Skärmbild från 2017-11-09 00-10-03.png ├── Skärmbild från 2017-11-09 00-11-30.png ├── Skärmbild från 2017-11-09 00-12-02.png ├── cover.png └── examples.md ├── reports ├── Applied System Identification - Lecture note 1.pdf ├── Applied System Identification - Lecture note 2.pdf ├── Applied System Identification - Lecture note 3.pdf ├── ERADC.pdf ├── ICA.pdf ├── OCID.pdf ├── OKID.pdf ├── RLS.pdf ├── SINDY.pdf ├── SSFD.pdf └── sr-ukf-paper.pdf ├── results.txt ├── scripts ├── build ├── check ├── checkpatch.pl ├── checkpatch │ └── typedefsfile ├── ci │ ├── check-file-sorted │ ├── check-links │ ├── check_compliance.py │ ├── pylintrc │ ├── test_plan.py │ └── twister_ignore.txt ├── coverage ├── fix ├── init ├── sort-codeowners ├── spelling.txt └── test ├── src ├── CMakeLists.txt ├── ai │ ├── a_star.c │ └── inpolygon.c ├── dynamics │ ├── c2d.c │ ├── kalman.c │ ├── lqi.c │ ├── mpc.c │ ├── mrac.c │ ├── pid.c │ ├── pid.m │ ├── stability.c │ └── theta2ss.c ├── filter │ ├── filtfilt.c │ ├── mcs.c │ └── sqr_ukf.c ├── linalg │ ├── add.c │ ├── balance.c │ ├── chol.c │ ├── cholupdate.c │ ├── det.c │ ├── dlyap.c │ ├── eig.c │ ├── eig_sym.c │ ├── expm.c │ ├── hankel.c │ ├── inv.c │ ├── linsolve_chol.c │ ├── linsolve_gauss.c │ ├── linsolve_lower_triangular.c │ ├── linsolve_lup.c │ ├── linsolve_markov.c │ ├── linsolve_qr.c │ ├── linsolve_upper_triangular.c │ ├── lup.c │ ├── mul.c │ ├── nonlinsolve.c │ ├── norm.c │ ├── pinv.c │ ├── qr.c │ ├── sum.c │ ├── svd_golub_reinsch.c │ ├── svd_jacobi_one_sided.c │ └── tran.c ├── misc │ ├── cat.c │ ├── constrain.c │ ├── cut.c │ ├── insert.c │ ├── mean.c │ ├── print.c │ ├── randn.c │ ├── sign.c │ └── stddev.c ├── model │ ├── dc_motor.c │ └── dc_motor.m ├── motion │ └── motion_profile.c ├── motor │ ├── clarke.c │ └── park.c ├── optimization │ ├── linprog.c │ └── linprog.m └── sysid │ ├── okid_era.c │ ├── rls.c │ └── sqr_ukf_id.c ├── tests ├── CMakeLists.txt ├── ai │ ├── CMakeLists.txt │ ├── a_star.cpp │ ├── inpolygon.cpp │ └── main.cpp ├── dynamics │ ├── CMakeLists.txt │ ├── c2d.cpp │ ├── kalman.cpp │ ├── kalman.m │ ├── lqi.cpp │ ├── lqi.m │ ├── main.cpp │ ├── mpc.cpp │ ├── mrac.cpp │ ├── pid.cpp │ ├── pid.m │ ├── stability.cpp │ └── theta2ss.cpp ├── filter │ ├── CMakeLists.txt │ ├── filtfilt.cpp │ ├── main.cpp │ ├── mcs.cpp │ └── sqr_ukf.cpp ├── linalg │ ├── CMakeLists.txt │ ├── add.cpp │ ├── balance.cpp │ ├── chol.cpp │ ├── cholupdate.cpp │ ├── det.cpp │ ├── dlyap.cpp │ ├── eig.cpp │ ├── eig_sym.cpp │ ├── expm.cpp │ ├── hankel.cpp │ ├── inv.cpp │ ├── linsolve_chol.cpp │ ├── linsolve_gauss.cpp │ ├── linsolve_lower_triangular.cpp │ ├── linsolve_lup.cpp │ ├── linsolve_markov.cpp │ ├── linsolve_qr.cpp │ ├── linsolve_upper_triangular.cpp │ ├── lup.cpp │ ├── main.cpp │ ├── mul.cpp │ ├── nonlinsolve.cpp │ ├── norm.cpp │ ├── pinv.cpp │ ├── qr.cpp │ ├── sum.cpp │ ├── svd_golub_reinsch.cpp │ ├── svd_jacobi_one_sided.cpp │ └── tran.cpp ├── misc │ ├── CMakeLists.txt │ ├── cat.cpp │ ├── constrain.cpp │ ├── cut.cpp │ ├── insert.cpp │ ├── main.cpp │ ├── mean.cpp │ ├── print.cpp │ ├── randn.cpp │ ├── sign.cpp │ └── stddev.cpp ├── model │ ├── CMakeLists.txt │ ├── dc_motor.cpp │ └── main.cpp ├── motion │ ├── CMakeLists.txt │ ├── main.cpp │ └── motion_profile.cpp ├── motor │ ├── CMakeLists.txt │ ├── clarke.cpp │ ├── main.cpp │ └── park.cpp ├── optimization │ ├── CMakeLists.txt │ ├── linprog.cpp │ └── main.cpp └── sysid │ ├── CMakeLists.txt │ ├── main.cpp │ ├── okid_era.cpp │ ├── okid_era.m │ ├── rls.cpp │ └── 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