Delft Center for Systems and Control

Delft University of Technology

Mekelweg 2
2628 CD Delft

Exam SC4040
FILTERING A N D IDENTIFICATION
Monday A p r i l 7, 2014, 18.30 - 21.30

This exam consists of 5 pages and 4 exercises.

The maximum number of points you can earn is indicated for each exercise. The total number of
points you can earn w i t h this written exam is 100.
You are allowed to use t h e b o o k [1] Filtering and System Identification:
A Least Squares
Approach,
Cambridge University Press, 2007 by the authors M . Verhaegen and V . Verdult during this exam.

G o o d luck!!!
1

E X E R C I S E 1: (30 p o i n t s )
[Least Squares]
The following prior information is given about an unknown random variable x G M " , x,^
{x,P),
such that F > 0, n > 1 and
= /3. A colleague from another department has convmcmg
arguments that the first component of x has to be equal to a, i.e.
x{l)

^ a ^ f 3

Fuse this information of your colleague w i t h the prior information to provide a new estimate of x
and its covariance matrix.
To answer this problem address the following questions:
( a ) [5 p o i n t s ] Express the prior information into a data equation format. [Hint: use a lower
triangular square root of P for this purpose.]
( b ) [5 p o i n t s ] Update the data equation of part (a) w i t h the info from your colleague and the
fact that

= (3 ^ a. [Hint: Partition the data equation!]

( c ) [20 p o i n t s ] Use the result of part (b) to update the estimate and (the square root) of its
covariance matrix.

(EXERCISE 2 ON T H E N E X T PAGE)

E X E R C I S E 2: (25 p o i n t s )
[Kalman Filtering]
Use the theory of Kalman filtering to estimate the unknown constant vector q of the followine
signal generation model (SGM):

:{k+l)
y{k)

Ax{k)+Bq

Cx{k)+v{k)

w i t h x{k) e K " , y{k) G

+ w{k)
E[

E[w{k)]^G
vik)
w{k)

(1)
R

A{k

and q M'" w i t h m < n.

( a ) [10 points] Propose a new SGM w i t h an augmented state containing both x{k) and q{k),
I.e. the value of q at time instance k. This new SGM is then used i n the design of a Kalman
filter to reconstruct both the system state x{k) and q{k).
( b ) [15 points] Show that the augmented SGM is observable provided the pair {A, C) is observable and the matrix C{A - I)-'^B having f u l l column rank.

(EXERCISE 3 O N T H E NEXT PAGE)

E X E R C I S E 3: ( 2 5 p o i n t s )
[Subspace Identification]
Consider an unknown though nrinimal L T I system belonging to the class of systems described by
finite dimensional state equations w i t h stochastic zero-iriean white noise input,

3;(fc + l )

Ax{k)+Ke{k)

e{k)GR

y{k)

Cx{k) + e{k)

x{k)

eR^

y{k)R

w i t h x{0) = 0 and e{k) a zero-mean white noise sequence w i t h covariance matrix

R>OL

For the subspace identification problem, let us consider the following data equation (for . and N
chosen such that s > n ,

> n).

( a ) [10 points] Prove that for the given state space model,
E[x{k)e{f]

= 0

Vfc, and ^ > / c > 0

( b ) [15 points] Prove that

N

A n d draw the conclusion from this result about finding the order of the state space model
f r o m the data.

(EXERCISE 4 ON T H E NEXT PAGE)

E X E R C I S E 4: (20 p o i n t s )
[The Identification Cycle]
Explain how the unbiased estimate of the cross-correlation vector i?e on the top of p. 389 and its
covariance matrix can be used w i t h some probability to check whether e{k) and u{i) are statistically
independent.
( E N D OF T H E E X A M )