Using "kalman" with a Zero B matrix

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John F
John F on 20 May 2014
Commented: Arkadiy Turevskiy on 29 May 2014
I am trying to use the "kalman" command to compute the steady-state gains for a Kalman filter in a signal tracking problem. There are no inputs. So, the dynamic equations are:
X[k+1] = A*X[k]; Y[k] = C*X[k];
I feel like there should be a way to do this. Any ideas? Thanks!

Answers (1)

Arkadiy Turevskiy
Arkadiy Turevskiy on 22 May 2014
Yes, you can use kalman to design a Kalman filter for a system with no input u . Did you try it? Did you run into problems?
  2 Comments
John F
John F on 28 May 2014
I get an error that an internal matrix in the calculation is not positive definite.
Error using ss/kalman (line 167)
In the "kalman(SYS,QN,RN,NN,...)" command, the covariance matrix
E{(H*w+v)(H*w+v)'} = [H,I]*[QN NN;NN' RN]*[H';I]
must be positive definite.
I'm assuming I am framing the problem incorrectly.

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