Matlab: MHE example fix Vu_0

acados · Jan 6, 2021 · d65fb0e · d65fb0e
1 parent cbb2e80
commit d65fb0e
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/examples/acados_matlab_octave/lorentz/setup_estimator.m b/examples/acados_matlab_octave/lorentz/setup_estimator.m
@@ -75,11 +75,11 @@
 Vu(ny+1:ny+nu, :) = eye(nu);
 
 Vx_0 = zeros(nout_0, nx);
-Vx_0(1, 1) = 1;
+Vx_0(1:ny, :) = eye(ny, nx);
 Vx_0(ny+nu+1:end, :) = eye(nx);
 
 Vu_0 = zeros(nout_0, nu);
-Vu_0(nx+1:nx+nu, :) = eye(nu);
+Vu_0(ny+1:ny+nu, :) = eye(nu);
 
 yref = zeros(nout, 1);
 yref_0 = zeros(nout_0, 1);