Run 4 (Insertion)

2 sec of observations (in 5 sec run). Observations are of both angles, but not their speeds.

Graph A: Primary angle of double pendulum vs time

Key:
Green points mark the assimilation cycle boundaries.
Blue is the exact solution.
Red are the observations used.
Magenta is the '4d'-Var. assimilated solution.
Light green is the insertion run solution.

Graph B: Zoom-in

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