The Sharifate of Mecca (Arabic: شرافة مكة Sharāfa Makka) or Emirate of Mecca was a state, nonsovereign for much of its existence, ruled by the Sharifs of sharif is a descendant of Hasan ibn Ali, Muhammad's grandson. In Western sources, the prince of Mecca was known as Grand Sherif, but Arabs have always used the appellation "Emir".
An alpha beta filter (also called alphabeta filter, fg filter or gh filter) is a simplified form of observer for estimation, data smoothing and control applications. It is closely related to Kalman filters and to linear state observers used in control theory. Its principal advantage .
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