8.10.10

After doing a system ID on the new disturbance model, I was finally able to get my "optimal" FIR filter working. Or rather, functional since in the experiment I get saturation and in the simulation I get crap. Right now I'm trying to write a similar script that finds the optimal coefficients by using simulated data directly in the least-squares problem, instead of just impulse response terms. We'll see if I get the same results as with the other method.

I can already see the next stop on this pain train. The adaptive filter basically solves this least-squares problem recursively using either LMS or RLS filter, so the obvious next step is to write my own adaptive code. The only piece missing is my ignorance about writing S-functions for Simulink, but there are hints that I might have to learn that eventually anyway.