<html><body><div style="color:#000; background-color:#fff; font-family:arial, helvetica, sans-serif;font-size:12pt"><div><span>O erro é claro!</span></div><div><br><span></span></div><div><span>Verifique a linha que eu grifei em vermelho no seu código. As dimensão do objeto "ar_A e ar_D" estão diferentes, impossibilitando a subtração.</span></div><div><br><span></span></div><div><span>.</span></div><div><span>.</span></div><div><span>.</span></div><div><span class="Apple-tab-span" style="white-space:pre"> </span>for(t in 1:2){</div><div><span class="Apple-tab-span" style="white-space:pre"> </span><span style="background-color: rgb(255, 0, 0);">ar_U[,,t]<-ar_Y[,,t]-ar_Z[,,t,drop=FALSE]%*%<span style="font-weight: bold; color: rgb(255, 255, 0);">ar_A[,,t,drop=FALSE]-ar_D[,,t,drop=FALSE]</span></span></div>
<div><span class="Apple-tab-span" style="white-space:pre"> </span>ar_F[,,t]<-ar_Z[,,t,drop=FALSE]%*%ar_P[,,t,drop=FALSE]%*%t(ar_Z[,,t,drop=FALSE])+ar_H[,,t,drop=FALSE]</div><div><span class="Apple-tab-span" style="white-space:pre"> </span>ar_AA[,,t]<-ar_A[,,t,drop=FALSE]+ar_P[,,t,drop=FALSE]%*%ar_Z[,,t,drop=FALSE]%*%ginv(ar_F[,,t,drop=FALSE])%*%ar_U[,,t,drop=FALSE]</div>
<div><span class="Apple-tab-span" style="white-space:pre"> </span>ar_PP[,,t]<-ar_P[,,t,drop=FALSE]-ar_P[,,t,drop=FALSE]%*%t(ar_Z[,,t,drop=FALSE])%*%ginv(ar_F[,,t,drop=FALSE])%*%ar_Z[,,t,drop=FALSE]%*%ar_P[,,t]</div><div>
<span class="Apple-tab-span" style="white-space:pre"> </span>ar_A[,,t+1]<-ar_T[,,t,drop=FALSE]%*%ar_AA[,,t,drop=FALSE]+ar_C[,,t,drop=FALSE]</div><div><span class="Apple-tab-span" style="white-space:pre"> </span>ar_P[,,t+1]<-ar_T[,,t,drop=FALSE]%*%ar_PP[,,t,drop=FALSE]%*%t(ar_PP[,,t,drop=FALSE])+ar_R[,,t,drop=FALSE]%*%ar_Q[,,t,drop=FALSE]%*%t(ar_R[,,t,drop=FALSE])</div>
<div><span class="Apple-tab-span" style="white-space:pre"> </span></div><div><span class="Apple-tab-span" style="white-space:pre"> </span>}</div><div><span class="Apple-tab-span" style="white-space:pre"> </span>return(list(ar_A,ar_P))</div>
<div>}</div><div><br></div><div>Filtro_Kalman(ar_Z,ar_T,ar_C,ar_D,ar_R,ar_H,ar_Q,a1,p1)<br><br>(S,f,P)<br>Allaman<br></div><div> </div><div style="background-color:transparent;" align="center"><font style="background-color:transparent;" face="comic sans ms" size="2"><font size="1"><b><br></b></font></font></div><div style="text-align:left;background-color:transparent;" align="center"><font style="background-color:transparent;"><font face="courier, monaco, monospace, sans-serif" size="2">\begin{signature}</font></font></div><div style="text-align:left;background-color:transparent;" align="center"><font style="background-color:transparent;"><font face="courier, monaco, monospace, sans-serif" size="2"><<>>=</font></font></div><div style="text-align:left;background-color:transparent;" align="center"><font class="Apple-style-span" face="courier, monaco, monospace, sans-serif" size="2">Prof. Dr. Ivan Bezerra Allaman</font></div><div
style="text-align:left;background-color:transparent;" align="center"><font class="Apple-style-span" face="courier, monaco, monospace, sans-serif" size="2">Universidade Estadual de Santa Cruz</font></div><div style="text-align:left;background-color:transparent;" align="center"><font class="Apple-style-span" face="courier, monaco, monospace, sans-serif" size="2">Departamento de Ciências Exatas e Tecnológicas</font></div><div style="text-align:left;background-color:transparent;" align="center"><font class="Apple-style-span" face="courier, monaco, monospace, sans-serif" size="2">Ilhéus/BA - Brasil</font></div><div style="text-align:left;background-color:transparent;" align="center"><font class="Apple-style-span" face="courier, monaco, monospace, sans-serif" size="2">Fone: +55 73 3680-5596</font></div><div style="text-align:left;background-color:transparent;" align="center"><font class="Apple-style-span" face="courier, monaco, monospace, sans-serif"
size="2">E-mail: ivanalaman@yahoo.com.br/ivanalaman@gmail.com</font></div><div style="text-align:left;background-color:transparent;" align="center"><font style="background-color:transparent;"><font face="courier, monaco, monospace, sans-serif" size="2">@</font></font></div><div style="text-align:left;background-color:transparent;" align="center"><font style="background-color:transparent;"><font face="courier, monaco, monospace, sans-serif" size="2">\end{signature}</font></font></div></div></body></html>