I'm trying to build a model based on tracking an object in 2-D using MATLAB (time-varying system). I built the model using an Extended Kalman Filter and a PID controller.
I have a doubt regards the relation of the reference with. I think that it is a theoretical doubt but, after some research I still do not understand.
In your opinion what are the signal that must follow my reference? The state ("real" position x and y) or the estimated state (estimated position x and y")?
Thank you in advance.