Hi friends.

I am going to use of Kalman filter in my program.Assuming we have two sensors,so then measurement matrix is a kind of 2 dimensional matrix.I implemented as below code:

%% Compute the Kalman filter gains

Rv =diag([eps3^2 eps2^2]);
% Input Rw
Rw =1e-5;    %input('Enter estimator Rw(default: 1e-5): ');
sensors = [1,2]; % y ,z is sensed
known = [1]; % force u
P = ss(A, [B B], C, 0);
[Observer, Ko] = kalman(P, Rw, Rv,[], sensors, known);


But whenever i run my program it gives out this error:
---------------------------------------------------------------------------------------
??? Error using ==> ss.kalman
Index in SENSORS out of range.

Error in ==> testd at 82
[Observer, Ko] = kalman(P, Rw, Rv,[], sensors, known);
-----------------------------------------------------------------------------------------

I do not know exactly what causes this error.


Any help would be highly appreciated.

Many thanks,
Mohammad