search for: siginv

...s(t) # observation eq x(t) = Cx(t-1)+Du(t)+eta(t) # state eq I modified the following routine (which I copied from: http://www.stat.pitt.edu/stoffer/tsa2/Rcode/Kall.R) to accommodate u(t), an exogenous input to the system. for (i in 2:N){ xp[[i]]=C%*%xf[[i-1]] Pp[[i]]=C%*%Pf[[i-1]]%*%t(C)+Q siginv=A[[i]]%*%Pp[[i]]%*%t(A[[i]])+R sig[[i]]=(t(siginv)+siginv)/2 # make sure sig is symmetric siginv=solve(sig[[i]]) # now siginv is sig[[i]]^{-1} K=Pp[[i]]%*%t(A[[i]])%*%siginv innov[[i]]=as.matrix(yobs[i,])-A[[i]]%*%xp[[i]] xf[[i]]=xp[[i]]+K%*%innov[[i]] Pf[[i]]=Pp[[i]]-K%*%A[[i]...