func (g *StateSpaceGenerator) discretize() ([][]float64, [][]float64) · ssmStep performs one SSM step: x'

Read the equation

This relation defines ssmStep performs one SSM step: x' in the source section “func (g *StateSpaceGenerator) discretize() ([][]float64, [][]float64) · ssmStep performs one SSM step: x'”. It specifies the displayed relationship between the named quantities or parameters. Its interpretation depends on the source’s stated variables and conditions; this record does not assign an unprovided physical or cognitive meaning to them.

Terms & definitions

The recovered passage does not supply a separate symbol table. Read the source context for the notation used in this version; familiar letters may carry different meanings in other builds.

How it works

1. Read ssmStep performs one SSM step: x' as the quantity being defined or updated by this relation.

2. Substitute the source-defined variables or recorded values and follow the displayed arithmetic and indexing exactly.

3. Use this version’s variable definitions and update order. The same symbol may be assigned a different meaning in another build.

Assumptions & limits

• This source expression was recovered from the pinned code revision. Its presence does not establish that the associated program was built, run, or scientifically validated.

Original context

			Bd[i][j] = g.dt * g.B[i][j]
		}
	}

	return Ad, Bd
}

// ssmStep performs one SSM step: x' = Ax + Bu, y = Cx + Du
func (g *StateSpaceGenerator) ssmStep(x, u []float64) ([]float64, []float64) {
	Ad, Bd := g.discretize()

	// x' = Ad*x + Bd*u
	xNew := make([]float64, g.stateSize)
	for i := 0; i < g.stateSize; i++ {
		// State transition
		for j := 0; j < g.stateSize && j < len(x); j++ {
			xNew[i] += Ad[i][j] * x[j]
		}

ssmStep performs one SSM step: x' = Ax + Bu, y = Cx + Du

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