how to implement kalman filter function?

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Nana Fernandes 2017-4-19

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https://ww2.mathworks.cn/matlabcentral/answers/336098-how-to-implement-kalman-filter-function

编辑： Nana Fernandes 2017-4-19

we are working on a code that requires to merge the measured value with the true value of the dataset using kalman filter. Below is the code that we are working on and having errors in T.

A = [1.1269   -0.4940    0.1129;
     1.0000         0         0;
          0    1.0000         0];
B = [-0.3832;
      0.5919;
      0.5191];
C = [1 0 0];
Plant = ss(A,[B B],C,0,-1,'inputname',{'u' 'w'},'outputname','y');
Q = 1;
R = 1;
[kalmf,L,P,M] = kalman(Plant,Q,R);
M;
kalmf = kalmf(1,:);
a = A;
b = [B B 0*B B B 0*B B B 0*B B B 0*B B B 0*B B B 0*B B B 0*B B B 0*B B B 0*B 0*B];
c = [C;C];
d = [0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0;0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1];
P = ss(a,b,c,d,-1,'inputname',{'u' 'w' 'v' 'a1' 'a2' 'a3' 'a4' 'a5' 'a6' 'a7' 'a8' 'a9' 'b1' 'b2' 'b3' 'b4' 'b5' 'b6' 'b7' 'b8' 'b9' 'c1' 'c2' 'c3' 'c4' 'c5' 'c6' 'c7'},'outputname',{'y' 'yv'});
sys = parallel(P,kalmf,1,1,[],[]);
SimModel = feedback(sys,1,4,2,1);   % Close loop around input #4 and output #2
SimModel = SimModel([1 2],[28 1 2]); % Delete yv from I/O list
SimModel.InputName;
SimModel.OutputName;
m = cell(1,28);
 t=zeros(size(m,1),size(m,2));
    t=str2double(m);
src = dsp.SignalSource('SamplesPerFrame',1);
src.Signal = xlsread('D:\ieee14\trainingset.xlsx',1,'A1:AB1');
w = src.Signal;
src1 = dsp.SignalSource('SamplesPerFrame',5600);
src1.Signal = xlsread('D:\ieee14\faultset.xlsx',1,'A1:AB5601');
u = src1.Signal;
src2 = dsp.SignalSource('SamplesPerFrame',5600);
src2.Signal = xlsread('D:\ieee14\faultset.xlsx',1,'A5601:AB11201');
v = src2.Signal;
[out,x] = lsim(SimModel,[u;v;w]);

the error is

Error using DynamicSystem/lsim (line 84)
When simulating the response to a specific input signal, the input data U must be a matrix with as many rows as samples in the time
vector T, and as many columns as input channels.
Error in kalman16thapril (line 42)
[out,x] = lsim(SimModel,[w;v;u]);