First submission

.gitignore

@@ -4,6 +4,7 @@ adaptive_width_experiments
 machinefile
 jump_lin_id/build
 *.orig
+*.log
 *.gz
 *.jld
 *.mat

jump_lin_id/bibtexfile.bib

@@ -64,3 +64,89 @@
   year={1994},
   publisher={Springer}
 }
+
+@article{tibshirani2014adaptive,
+  title={Adaptive piecewise polynomial estimation via trend filtering},
+  author={Tibshirani, Ryan J and others},
+  journal={The Annals of Statistics},
+  volume={42},
+  number={1},
+  pages={285--323},
+  year={2014},
+  publisher={Institute of Mathematical Statistics}
+}
+
+@article{kim2009ell_1,
+  title={$\backslash$ell\_1 Trend Filtering},
+  author={Kim, Seung-Jean and Koh, Kwangmoo and Boyd, Stephen and Gorinevsky, Dimitry},
+  journal={SIAM review},
+  volume={51},
+  number={2},
+  pages={339--360},
+  year={2009},
+  publisher={SIAM}
+}
+
+@book{murphy2012machine,
+  title={Machine learning: a probabilistic perspective},
+  author={Murphy, Kevin P},
+  year={2012},
+  publisher={MIT press, Cambridge, Massachusetts}
+}
+
+@article{bellman1969curve,
+  title={Curve fitting by segmented straight lines},
+  author={Bellman, Richard and Roth, Robert},
+  journal={Journal of the American Statistical Association},
+  volume={64},
+  number={327},
+  pages={1079--1084},
+  year={1969},
+  publisher={Taylor \& Francis}
+}
+
+@inproceedings{levine2013guided,
+  title={Guided policy search},
+  author={Levine, Sergey and Koltun, Vladlen},
+  booktitle={Proceedings of the 30th International Conference on Machine Learning (ICML-13)},
+  pages={1--9},
+  year={2013}
+}
+
+@inproceedings{levine2015learning,
+  title={Learning contact-rich manipulation skills with guided policy search},
+  author={Levine, Sergey and Wagener, Nolan and Abbeel, Pieter},
+  booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},
+  pages={156--163},
+  year={2015},
+  organization={IEEE}
+}
+
+@article{bristow2006survey,
+  title={A survey of iterative learning control},
+  author={Bristow, Douglas A and Tharayil, Marina and Alleyne, Andrew G},
+  journal={IEEE Control Systems},
+  volume={26},
+  number={3},
+  pages={96--114},
+  year={2006},
+  publisher={IEEE}
+}
+
+@inproceedings{schulman2015trust,
+  title={Trust region policy optimization},
+  author={Schulman, John and Levine, Sergey and Abbeel, Pieter and Jordan, Michael and Moritz, Philipp},
+  booktitle={Proceedings of the 32nd International Conference on Machine Learning (ICML-15)},
+  pages={1889--1897},
+  year={2015}
+}
+
+@inproceedings{vidal2002observability,
+  title={Observability and identifiability of jump linear systems},
+  author={Vidal, Ren{\'e} and Chiuso, Alessandro and Soatto, Stefano},
+  booktitle={Decision and Control, 2002, Proceedings of the 41st IEEE Conference on},
+  volume={4},
+  pages={3614--3619},
+  year={2002},
+  organization={IEEE}
+}

jump_lin_id/figs/states.tex

@@ -4,18 +4,20 @@
 \definecolor{color1}{rgb}{0.88887350027252,0.43564919034819,0.278122936141944}
 \definecolor{color0}{rgb}{0,0.605603161175225,0.978680117569607}
 \definecolor{color2}{rgb}{0.242224297852199,0.64327509315763,0.304448651534115}
+% \pgfplotsset{yticklabel style={text width=2em,align=right}}
 
 \begin{axis}[
     name=plot1,
 ylabel={State value},
-xmin=1, xmax=399,
+xmin=0, xmax=400,
 ymin=-7.85391243746834, ymax=1.78055825822371,
 axis on top,
+ytick = {0,-5},
 width=\figurewidth,
 height=\figureheight,
 legend entries={{Estimated},{True},{Measured}},
 legend cell align={left},
-legend style={at={(0.99,1.03)}, anchor=south, draw=white, legend columns=3},
+legend style={at={(0.5,1.03)}, anchor=south, draw=white, legend columns=3},
 ]
 \addplot [color0]
 table {%
@@ -1228,11 +1230,13 @@ table {%
 \end{axis}
 
 \begin{axis}[
-at=(plot1.south east), anchor=south west,
-xshift=7mm,
+% at=(plot1.south east), anchor=south west,
+at=(plot1.below south east), anchor=above north east,
+ylabel={State value},
+% xshift=7mm,
 % ylabel={State value},
 xlabel={Time index},
-xmin=1, xmax=399,
+xmin=0, xmax=400,
 ymin=-7.8926575396648, ymax=4.28889863645134,
 axis on top,
 width=\figurewidth,