fix V10_kalmanfilter_demonstration.ipynb

requirements.txt

@@ -2,5 +2,5 @@ scilab-kernel==0.9.10
 numpy==1.19.5
 scipy==1.6.1
 control==0.9.2
-matplotlib==3.6.0
+matplotlib==3.6.1
 PyGnuplot==0.12.3

sys2-jupyter-notebooks/lecture_examples/V10_kalmanfilter_demonstration.ipynb

@@ -163,6 +163,11 @@
     }
    ],
    "source": [
+    "%matplotlib inline\n",
+	"from ipywidgets import interactive\n",
+	"import matplotlib.pyplot as plt\n",
+	"import numpy as np\n",
+	"\n",
     "tini = 0 # Start time\n",
     "tfinal = 6 # End time\n",
     "dt = 0.01 # Time Step\n",
@@ -170,18 +175,12 @@
     "Ts = 0.1 # Sampling time for discrete time\n",
     "\n",
     "\n",
-    "%matplotlib widget\n",
+    "def update(sigma = 0.2, u=\"off\", xo=3, Q=1e-9, R=0.2, Pk=1):\n",
     "    fig = plt.figure()\n",
 	"    ax = fig.add_subplot(1, 1, 1)\n",
 	"    fig.set_dpi(120)\n",
 	"    ax.grid(True)\n",
 	"    \n",
-    "@widgets.interact(sigma=(0.1, 2, 0.1), u = [\"on\",\"off\"], xo=(-10, 10, 1),\n",
-    "                  Q=[1, 0.1, 0.01, 0.001, 1e-4, 1e-5, 1e-6, 1e-7, 1e-8, 1e-9, 1e-10],\n",
-    "                  R=(0.01, 1, 0.01), Pk=(0.01, 10, 0.01))\n",
-    "\n",
-    "def update(sigma = 0.2, u=\"off\", xo=3, Q=1e-9, R=0.2, Pk=1):\n",
-    "    \"\"\"Remove old lines from plot and plot new one\"\"\"\n",
     "    [l.remove() for l in ax.lines]\n",
     "    [l.remove() for l in ax.lines]\n",
     "    \n",
@@ -213,7 +212,11 @@
     "\n",
     "    ax.plot(out[0,:],out[3,:],'lightblue',out[0,:],out[2,:],'blue',out[0,:],out[4,:],'green')\n",
     "    ax.legend(['Sensor','System','Ausgabe Kalman-Filter'])\n",
-    "    plt.show()"
+    "    plt.show()\n",
+	"\n",
+    "\n",
+	"interactive_plot = interactive(update, sigma=(0.1, 2, 0.1), u = ["on","off"], xo=(-10, 10, 1), Q=[1, 0.1, 0.01, 0.001, 1e-4, 1e-5, 1e-6, 1e-7, 1e-8, 1e-9, 1e-10], R=(0.01, 1, 0.01), Pk=(0.01, 10, 0.01))\n",
+	"interactive_plot"
    ]
   },
   {