MATLAB: Matlab coding to s-function level 2 coding.

Question

Hi,

Using Matlab, i can initialize the particle filter like this:

for i = 1 : N
    xhatplus(:,i) = xhat + sqrt(P) * [randn; randn; randn];
end

Now, i want to use simulink s-function level 2. how should i coding it?

function DoPostPropSetup(block)
  block.Dwork(3).Name = 'xhatplus'; 
  block.Dwork(3).Dimensions      = N*3;
  block.Dwork(3).DatatypeID      = 0;
  block.Dwork(3).Complexity      = 'Real';
  block.Dwork(3).UsedAsDiscState = true;
function InitializeConditions(block)
  block.Dwork(3).Data = ??

Any advise? Thanks.

Answer 1

Oops, just realized that you are asking about the InitializeConditions function, and not Update or Outputs. The initial condition of your state depends on the dynamics of your system or application - it's hard for us to tell what it should be. The only thing that I can say is that it needs to be of size 3000. For example, for zero-initial condition, you can say:

   block.Dwork(3).Data = zeros(3, N);