7.31.10

Ahh crap its August.

Finished some code to calculate the optimal FIR filter (in the SISO case) in the disturbance rejection problem by solving the Weiner-Hopf equations. I have no clue if it works, but it seemed to give non-bullshit answers at the few, simple problems I threw at it. To actually use it in the experiment I have to harness the disturbance state-space model, but because of all the reshaping and massaging required to get the disturbance commands I'm not sure the original model would be valid. Right now I'm working on identifying a new model based on the measured wavefronts, so the basic procedure retardedly involves pulling a subspace ID twice. At that point I'm probably just getting complete nonsense, but its worth a try.