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For a statistically stationary environment it would be advantageous to use gear shifting, that is to reduce the adaptation gain with time. To illustrate this, try using a varying adaptation gain and observe the results. Also observe the error. If the error is high, what should the adaptation gain be to reduce it? Try incorporating into your program a subroutine which calculates a suitable adaptation gain for the (k+1) coeffcent update based on the kth error.
Note: to compare different methods for choosing the adaptation gain, always initialise the seed before creating a new vector of random numbers, and assume that the maximum permissible overshoot for each coeffcient is 20% of its true value; then compare the different methods, by considering the rise time in each case. The best method will give the shortest rise time.
Vectors and Matrices: The Vectors and matrices are used to store sets of values, all of which are similar type. A vector can either be a column vector or a row vector. The mat
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The characteristic properties of an aquifer can be used to calculate groundwater velocities, v groundwater (L/T), according to: where KH (L/T) is the hydraulic conductivit
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The diagram shown on the next page represents a planar pantograph-based leg for a walking robot. This model utilizes only one DOF to generate the walking gait at the foot link 'n
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