% load the bridge data
load 'c:\matlab\brid2.dat' -ascii;
brid2

% tank position xxx:
fdes = [zeros(20,1); 11.7*ones(6,1); zeros(27,1)];
mdes = brid2 * fdes;
actLoc = [6 11 16 21 27 33 38 43 48];
a = brid2(:, actLoc);
a_inv = pinv(a);
fact = a_inv * mdes;
mact = a * fact;
merr = mdes - mact;
merrRms = sqrt(sum(abs(merr)))
plot(1:length(mdes), mdes, '-', 1:length(mact), mact, ':');
grid on
plot(merr)
fact


