Lyapunov1

在此代码所使用的算法是从以下引用： S Gillijns等人“什么是集合卡尔曼滤波和它工作得如何？“ 2006年美国电力系统及其控制会议，明尼阿波利斯，美国明尼苏达州六月14-16，2006，页4448-4453。(The algorithm used in this code is referenced from the following: S Gillijns et al "What Is the Ensemble Kalman Filter and How Well Does it Work?" Proceedings of the 2006 American Control Conference, Minneapolis, Minnesota, USA, June 14-16, 2006, pp 4448-4453.)

The model of 2DOF robotic arm is given in Simulink/Matlab.

基本模拟调制及其功率谱密度函数，有图的仿真结果，可以比较直观的进行理解(The basic analog modulation and power spectrum density function, a simulation results, can be more intuitive to understand)

When doing optimization, GA algorithm was initially selected, but the instability of the GA (or local optimization) is really frustrating, before and after the resulting difference can at times reach more than 30 , at that time due to time reasons, I chose to optimize 1000 times, then the minimum value of the most optimal solution. Although the problems are solved, but an academic, this style of running is pretty embarrassing. So, I downloaded a GA-PSO algorithm, try using the combination of GA and PSO optimizing strategies, results algorithm issues, efficiency and good. I downloaded the original algorithm, there is a problem is that it is aimed at all upper and lower limits of the design variables are the same, so I modified the program and improvements, you can now deal with upper and lower limits of the inconsistency problem and fix the bug. Now, program modifications, and share, hoping to be useful to you

用来解决数值优化问题，可以作为数值优化的工具，也可以作为算法的比对参考(Used to solve the problem of numerical optimization, numerical optimization can be used as a tool, can also be used as a comparison reference of the algorithm)

this code is for coverage distance

麦克风阵列声源定位迟延估计算法，实现麦克风阵列的声源定位，可以和别的算法进行比较，得出最优算法(Microphone array sound source localization delay estimation algorithm, the microphone array sound source localization, can be compared with other algorithms, the optimal algorithm)

kalman一维滤波，采用两点差分法确定初始值，并仿真出不同初值情况下的估计效果(the fiter base on kalman)

Hu矩的计算，通过Hu矩计算可以实现图像的旋转、平移的不变特性(Hu Moment, can be achieved by Hu Moment of image rotation, translation invariant features)

关于2psk相关参数的matlab若干个编程 如 误码率的计算(Matlab on 2psk a number of related parameters such as bit error rate calculation program)