Pattern

Predict, then correct

You might say: model plus measurement

Propagate an estimate with a model, then correct it with a fresh measurement and its residual.

Ask

How accurate is the model, how uncertain is the prediction, and when does a measurement correct it?

Sources

1. Karl J. Åström and Richard M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Ch. 8, observer correction and Kalman-filter updateA state feedback controller and linear observer can be combined to form a stabilizing controller for a reachable and observable linear system.

Use it on your project

teardown-apply: hold "Predict, then correct" (pattern-predict-correct) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal