diff --git a/kalman_filter/KalmanFilter.prj b/kalman_filter/KalmanFilter.prj
new file mode 100644
index 00000000..92c66969
--- /dev/null
+++ b/kalman_filter/KalmanFilter.prj
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<MATLABProject xmlns="http://www.mathworks.com/MATLABProjectFile" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" version="1.0"/>
diff --git a/kalman_filter/README.md b/kalman_filter/README.md
deleted file mode 100644
index 2658e06a..00000000
--- a/kalman_filter/README.md
+++ /dev/null
@@ -1,2 +0,0 @@
-Kalman Filtering
-================
diff --git a/kalman_filter/resources/project/6xhH2l9GP9loT6TdFn_Mo65sDHg/P8PSrqcBHMbGhqD2r1d9oc0h3TUd.xml b/kalman_filter/resources/project/6xhH2l9GP9loT6TdFn_Mo65sDHg/P8PSrqcBHMbGhqD2r1d9oc0h3TUd.xml
new file mode 100644
index 00000000..08fab53a
--- /dev/null
+++ b/kalman_filter/resources/project/6xhH2l9GP9loT6TdFn_Mo65sDHg/P8PSrqcBHMbGhqD2r1d9oc0h3TUd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Value="true" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/6xhH2l9GP9loT6TdFn_Mo65sDHg/P8PSrqcBHMbGhqD2r1d9oc0h3TUp.xml b/kalman_filter/resources/project/6xhH2l9GP9loT6TdFn_Mo65sDHg/P8PSrqcBHMbGhqD2r1d9oc0h3TUp.xml
new file mode 100644
index 00000000..4d7b2132
--- /dev/null
+++ b/kalman_filter/resources/project/6xhH2l9GP9loT6TdFn_Mo65sDHg/P8PSrqcBHMbGhqD2r1d9oc0h3TUp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="environment.loadSimulink" type="Command" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/8MzQP9k5arOV73awAzbRHXnilbod.xml b/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/8MzQP9k5arOV73awAzbRHXnilbod.xml
new file mode 100644
index 00000000..59b7a5d8
--- /dev/null
+++ b/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/8MzQP9k5arOV73awAzbRHXnilbod.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="" Type="Relative" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/8MzQP9k5arOV73awAzbRHXnilbop.xml b/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/8MzQP9k5arOV73awAzbRHXnilbop.xml
new file mode 100644
index 00000000..3b6fcd5a
--- /dev/null
+++ b/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/8MzQP9k5arOV73awAzbRHXnilbop.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="90c946d4-8e41-4b3f-8efc-528cdd5956c1" type="Reference" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pXDfXYZ4Dws6w0LKp-PyLZm7dOEd.xml b/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pXDfXYZ4Dws6w0LKp-PyLZm7dOEd.xml
new file mode 100644
index 00000000..aa25c757
--- /dev/null
+++ b/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pXDfXYZ4Dws6w0LKp-PyLZm7dOEd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="tests" Type="Relative" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pXDfXYZ4Dws6w0LKp-PyLZm7dOEp.xml b/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pXDfXYZ4Dws6w0LKp-PyLZm7dOEp.xml
new file mode 100644
index 00000000..03670eb7
--- /dev/null
+++ b/kalman_filter/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pXDfXYZ4Dws6w0LKp-PyLZm7dOEp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="21b403aa-f001-4393-9bd9-c12b5e201d40" type="Reference" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/hjCR36-LJkdDyvkeWfRbHoQohIcd.xml b/kalman_filter/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/hjCR36-LJkdDyvkeWfRbHoQohIcd.xml
new file mode 100644
index 00000000..ae38aaf2
--- /dev/null
+++ b/kalman_filter/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/hjCR36-LJkdDyvkeWfRbHoQohIcd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Type="StartUp" Visible="0" Icon="" File="kalman_filter.slx" Name="kalman_filter" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/hjCR36-LJkdDyvkeWfRbHoQohIcp.xml b/kalman_filter/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/hjCR36-LJkdDyvkeWfRbHoQohIcp.xml
new file mode 100644
index 00000000..29bcf524
--- /dev/null
+++ b/kalman_filter/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/hjCR36-LJkdDyvkeWfRbHoQohIcp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="edcb753c-3e96-4080-be2c-7ce3ec3ed6b8" type="EntryPoint" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/2kj09UetkV_lru3gvSPXnY6-nM4d.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/2kj09UetkV_lru3gvSPXnY6-nM4d.xml
new file mode 100644
index 00000000..5a6f8021
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/2kj09UetkV_lru3gvSPXnY6-nM4d.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info ReadOnly="READ_ONLY" Name="Test" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/2kj09UetkV_lru3gvSPXnY6-nM4p.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/2kj09UetkV_lru3gvSPXnY6-nM4p.xml
new file mode 100644
index 00000000..7d7cdf51
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/2kj09UetkV_lru3gvSPXnY6-nM4p.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="test" type="Label" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/KKyDJtbdIBOlaeHmIZd5VX6vqx8d.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/KKyDJtbdIBOlaeHmIZd5VX6vqx8d.xml
new file mode 100644
index 00000000..14d104f1
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/KKyDJtbdIBOlaeHmIZd5VX6vqx8d.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info ReadOnly="READ_ONLY" Name="Other" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/KKyDJtbdIBOlaeHmIZd5VX6vqx8p.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/KKyDJtbdIBOlaeHmIZd5VX6vqx8p.xml
new file mode 100644
index 00000000..e9b99bc0
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/KKyDJtbdIBOlaeHmIZd5VX6vqx8p.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="other" type="Label" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/QWNDYJD5mGW1bWYvPx9DtKnxzw4d.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/QWNDYJD5mGW1bWYvPx9DtKnxzw4d.xml
new file mode 100644
index 00000000..52728019
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/QWNDYJD5mGW1bWYvPx9DtKnxzw4d.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info ReadOnly="READ_ONLY" Name="Convenience" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/QWNDYJD5mGW1bWYvPx9DtKnxzw4p.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/QWNDYJD5mGW1bWYvPx9DtKnxzw4p.xml
new file mode 100644
index 00000000..4985b817
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/QWNDYJD5mGW1bWYvPx9DtKnxzw4p.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="convenience" type="Label" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/R1RggVhA72agIvELiuhWPRS8F0Id.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/R1RggVhA72agIvELiuhWPRS8F0Id.xml
new file mode 100644
index 00000000..27ca3e70
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/R1RggVhA72agIvELiuhWPRS8F0Id.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info ReadOnly="READ_ONLY" Name="None" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/R1RggVhA72agIvELiuhWPRS8F0Ip.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/R1RggVhA72agIvELiuhWPRS8F0Ip.xml
new file mode 100644
index 00000000..b54f8b05
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/R1RggVhA72agIvELiuhWPRS8F0Ip.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="none" type="Label" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/aEHSZBIY-yve10yGis12Zr5DLZod.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/aEHSZBIY-yve10yGis12Zr5DLZod.xml
new file mode 100644
index 00000000..5a873c8a
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/aEHSZBIY-yve10yGis12Zr5DLZod.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info ReadOnly="READ_ONLY" Name="Derived" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/aEHSZBIY-yve10yGis12Zr5DLZop.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/aEHSZBIY-yve10yGis12Zr5DLZop.xml
new file mode 100644
index 00000000..16301573
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/aEHSZBIY-yve10yGis12Zr5DLZop.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="derived" type="Label" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/j4xwF_j8iFTVayUMfxLgMnTbencd.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/j4xwF_j8iFTVayUMfxLgMnTbencd.xml
new file mode 100644
index 00000000..59cb0be6
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/j4xwF_j8iFTVayUMfxLgMnTbencd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info ReadOnly="READ_ONLY" Name="Design" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/j4xwF_j8iFTVayUMfxLgMnTbencp.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/j4xwF_j8iFTVayUMfxLgMnTbencp.xml
new file mode 100644
index 00000000..13c5f03b
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/j4xwF_j8iFTVayUMfxLgMnTbencp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="design" type="Label" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/r8LR4nLmg9ai3oHrW1r_-KocQzkd.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/r8LR4nLmg9ai3oHrW1r_-KocQzkd.xml
new file mode 100644
index 00000000..b56f6594
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/r8LR4nLmg9ai3oHrW1r_-KocQzkd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info ReadOnly="READ_ONLY" Name="Artifact" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/r8LR4nLmg9ai3oHrW1r_-KocQzkp.xml b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/r8LR4nLmg9ai3oHrW1r_-KocQzkp.xml
new file mode 100644
index 00000000..747ffce2
--- /dev/null
+++ b/kalman_filter/resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/r8LR4nLmg9ai3oHrW1r_-KocQzkp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="artifact" type="Label" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/Project.xml b/kalman_filter/resources/project/Project.xml
new file mode 100644
index 00000000..131caf38
--- /dev/null
+++ b/kalman_filter/resources/project/Project.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info MetadataType="fixedPathV2" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Ud.xml b/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Ud.xml
new file mode 100644
index 00000000..b497ce75
--- /dev/null
+++ b/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Ud.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="codegen" Type="Relative" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Up.xml b/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Up.xml
new file mode 100644
index 00000000..4fd0ba89
--- /dev/null
+++ b/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Up.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="SimulinkCodeGenFolder" type="Reference" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/AtMjXDrOSm8YDv3_4UFXiyrWqNEd.xml b/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/AtMjXDrOSm8YDv3_4UFXiyrWqNEd.xml
new file mode 100644
index 00000000..bf38e421
--- /dev/null
+++ b/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/AtMjXDrOSm8YDv3_4UFXiyrWqNEd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="cache" Type="Relative" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/AtMjXDrOSm8YDv3_4UFXiyrWqNEp.xml b/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/AtMjXDrOSm8YDv3_4UFXiyrWqNEp.xml
new file mode 100644
index 00000000..c40bb70a
--- /dev/null
+++ b/kalman_filter/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/AtMjXDrOSm8YDv3_4UFXiyrWqNEp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="SimulinkCacheFolder" type="Reference" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/fjRQtWiSIy7hIlj-Kmk87M7s21k/NjSPEMsIuLUyIpr2u1Js5bVPsOsd.xml b/kalman_filter/resources/project/fjRQtWiSIy7hIlj-Kmk87M7s21k/NjSPEMsIuLUyIpr2u1Js5bVPsOsd.xml
new file mode 100644
index 00000000..ef389457
--- /dev/null
+++ b/kalman_filter/resources/project/fjRQtWiSIy7hIlj-Kmk87M7s21k/NjSPEMsIuLUyIpr2u1Js5bVPsOsd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info ReadOnly="1" SingleValued="1" DataType="None" Name="Classification" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/fjRQtWiSIy7hIlj-Kmk87M7s21k/NjSPEMsIuLUyIpr2u1Js5bVPsOsp.xml b/kalman_filter/resources/project/fjRQtWiSIy7hIlj-Kmk87M7s21k/NjSPEMsIuLUyIpr2u1Js5bVPsOsp.xml
new file mode 100644
index 00000000..c9f987f2
--- /dev/null
+++ b/kalman_filter/resources/project/fjRQtWiSIy7hIlj-Kmk87M7s21k/NjSPEMsIuLUyIpr2u1Js5bVPsOsp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="FileClassCategory" type="Category" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/8Qdz0iiiuHlFJjxB6c5reQ4NAkQd.xml b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/8Qdz0iiiuHlFJjxB6c5reQ4NAkQd.xml
new file mode 100644
index 00000000..1c0844ef
--- /dev/null
+++ b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/8Qdz0iiiuHlFJjxB6c5reQ4NAkQd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/8Qdz0iiiuHlFJjxB6c5reQ4NAkQp.xml b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/8Qdz0iiiuHlFJjxB6c5reQ4NAkQp.xml
new file mode 100644
index 00000000..5199d613
--- /dev/null
+++ b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/8Qdz0iiiuHlFJjxB6c5reQ4NAkQp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="1" type="DIR_SIGNIFIER" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bWcXYnMXQ5uBJkqkx92zyfF68kUd.xml b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bWcXYnMXQ5uBJkqkx92zyfF68kUd.xml
new file mode 100644
index 00000000..d8fadf36
--- /dev/null
+++ b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bWcXYnMXQ5uBJkqkx92zyfF68kUd.xml
@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="test" />
+    </Category>
+</Info>
\ No newline at end of file
diff --git a/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bWcXYnMXQ5uBJkqkx92zyfF68kUp.xml b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bWcXYnMXQ5uBJkqkx92zyfF68kUp.xml
new file mode 100644
index 00000000..abf5e03f
--- /dev/null
+++ b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bWcXYnMXQ5uBJkqkx92zyfF68kUp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="robot_logger_device.mat" type="File" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bZdVcqoYMmf8JLxUcCJubhCkb_sd.xml b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bZdVcqoYMmf8JLxUcCJubhCkb_sd.xml
new file mode 100644
index 00000000..d8fadf36
--- /dev/null
+++ b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bZdVcqoYMmf8JLxUcCJubhCkb_sd.xml
@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="test" />
+    </Category>
+</Info>
\ No newline at end of file
diff --git a/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bZdVcqoYMmf8JLxUcCJubhCkb_sp.xml b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bZdVcqoYMmf8JLxUcCJubhCkb_sp.xml
new file mode 100644
index 00000000..2eb1ca2f
--- /dev/null
+++ b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/bZdVcqoYMmf8JLxUcCJubhCkb_sp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="kalman_filter_test.slx" type="File" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/kZcjHhEakfXp2-JFfZQiF_b_LGId.xml b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/kZcjHhEakfXp2-JFfZQiF_b_LGId.xml
new file mode 100644
index 00000000..d8fadf36
--- /dev/null
+++ b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/kZcjHhEakfXp2-JFfZQiF_b_LGId.xml
@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="test" />
+    </Category>
+</Info>
\ No newline at end of file
diff --git a/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/kZcjHhEakfXp2-JFfZQiF_b_LGIp.xml b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/kZcjHhEakfXp2-JFfZQiF_b_LGIp.xml
new file mode 100644
index 00000000..953db647
--- /dev/null
+++ b/kalman_filter/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/kZcjHhEakfXp2-JFfZQiF_b_LGIp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="load_params.m" type="File" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/8d9v-LtEUbn5sLYfynvxaeIuYg0d.xml b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/8d9v-LtEUbn5sLYfynvxaeIuYg0d.xml
new file mode 100644
index 00000000..80b5b161
--- /dev/null
+++ b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/8d9v-LtEUbn5sLYfynvxaeIuYg0d.xml
@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design" />
+    </Category>
+</Info>
\ No newline at end of file
diff --git a/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/8d9v-LtEUbn5sLYfynvxaeIuYg0p.xml b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/8d9v-LtEUbn5sLYfynvxaeIuYg0p.xml
new file mode 100644
index 00000000..69bcfa11
--- /dev/null
+++ b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/8d9v-LtEUbn5sLYfynvxaeIuYg0p.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="kalman_filter.slx" type="File" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/YK4MHFOIe7Ym8UHqT9S_1KRD4Ecd.xml b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/YK4MHFOIe7Ym8UHqT9S_1KRD4Ecd.xml
new file mode 100644
index 00000000..80b5b161
--- /dev/null
+++ b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/YK4MHFOIe7Ym8UHqT9S_1KRD4Ecd.xml
@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design" />
+    </Category>
+</Info>
\ No newline at end of file
diff --git a/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/YK4MHFOIe7Ym8UHqT9S_1KRD4Ecp.xml b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/YK4MHFOIe7Ym8UHqT9S_1KRD4Ecp.xml
new file mode 100644
index 00000000..2e667368
--- /dev/null
+++ b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/YK4MHFOIe7Ym8UHqT9S_1KRD4Ecp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="init.m" type="File" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml
new file mode 100644
index 00000000..1c0844ef
--- /dev/null
+++ b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sp.xml b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sp.xml
new file mode 100644
index 00000000..aa703b4d
--- /dev/null
+++ b/kalman_filter/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="tests" type="File" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/6x1BhZX_fLnKpcwqra0qFwv1jIgp.xml b/kalman_filter/resources/project/root/6x1BhZX_fLnKpcwqra0qFwv1jIgp.xml
new file mode 100644
index 00000000..fecfedc8
--- /dev/null
+++ b/kalman_filter/resources/project/root/6x1BhZX_fLnKpcwqra0qFwv1jIgp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="Extensions" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/6xhH2l9GP9loT6TdFn_Mo65sDHgp.xml b/kalman_filter/resources/project/root/6xhH2l9GP9loT6TdFn_Mo65sDHgp.xml
new file mode 100644
index 00000000..ebd48a1a
--- /dev/null
+++ b/kalman_filter/resources/project/root/6xhH2l9GP9loT6TdFn_Mo65sDHgp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="EnvironmentCustomizations" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/EEtUlUb-dLAdf0KpMVivaUlztwAp.xml b/kalman_filter/resources/project/root/EEtUlUb-dLAdf0KpMVivaUlztwAp.xml
new file mode 100644
index 00000000..caaab053
--- /dev/null
+++ b/kalman_filter/resources/project/root/EEtUlUb-dLAdf0KpMVivaUlztwAp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="ProjectPath" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml b/kalman_filter/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml
new file mode 100644
index 00000000..ad3b6c56
--- /dev/null
+++ b/kalman_filter/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Name="KalmanFilter" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQp.xml b/kalman_filter/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQp.xml
new file mode 100644
index 00000000..61c65047
--- /dev/null
+++ b/kalman_filter/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="ProjectData" type="Info" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/KAXfQgCar2Yb8zOxgvf9hdmLP1Ep.xml b/kalman_filter/resources/project/root/KAXfQgCar2Yb8zOxgvf9hdmLP1Ep.xml
new file mode 100644
index 00000000..f2649aa6
--- /dev/null
+++ b/kalman_filter/resources/project/root/KAXfQgCar2Yb8zOxgvf9hdmLP1Ep.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="EntryPoints" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/NmGqIpAwUJcXFyLjFAGnU9uyN5Yp.xml b/kalman_filter/resources/project/root/NmGqIpAwUJcXFyLjFAGnU9uyN5Yp.xml
new file mode 100644
index 00000000..8288be52
--- /dev/null
+++ b/kalman_filter/resources/project/root/NmGqIpAwUJcXFyLjFAGnU9uyN5Yp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="ProjectData" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/WZRuNzqc-Db7NcQAZO8Y-R8U9ccp.xml b/kalman_filter/resources/project/root/WZRuNzqc-Db7NcQAZO8Y-R8U9ccp.xml
new file mode 100644
index 00000000..78c747de
--- /dev/null
+++ b/kalman_filter/resources/project/root/WZRuNzqc-Db7NcQAZO8Y-R8U9ccp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="WorkingFolders" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml b/kalman_filter/resources/project/root/fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml
new file mode 100644
index 00000000..28c5d83c
--- /dev/null
+++ b/kalman_filter/resources/project/root/fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="Categories" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/root/qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml b/kalman_filter/resources/project/root/qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml
new file mode 100644
index 00000000..dad7a3c7
--- /dev/null
+++ b/kalman_filter/resources/project/root/qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="Files" />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/rootp.xml b/kalman_filter/resources/project/rootp.xml
new file mode 100644
index 00000000..1c0844ef
--- /dev/null
+++ b/kalman_filter/resources/project/rootp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info />
\ No newline at end of file
diff --git a/kalman_filter/resources/project/uuid-a7818de3-3218-4163-8645-97047f606563.xml b/kalman_filter/resources/project/uuid-a7818de3-3218-4163-8645-97047f606563.xml
new file mode 100644
index 00000000..1c0844ef
--- /dev/null
+++ b/kalman_filter/resources/project/uuid-a7818de3-3218-4163-8645-97047f606563.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info />
\ No newline at end of file
diff --git a/kalman_filter/tests/kalman_filter_test.slx b/kalman_filter/tests/kalman_filter_test.slx
new file mode 100644
index 00000000..827449a9
Binary files /dev/null and b/kalman_filter/tests/kalman_filter_test.slx differ
diff --git a/kalman_filter/tests/load_params.m b/kalman_filter/tests/load_params.m
new file mode 100644
index 00000000..41ed719c
--- /dev/null
+++ b/kalman_filter/tests/load_params.m
@@ -0,0 +1,33 @@
+% Copyright (C) 2022 Fondazione Istitito Italiano di Tecnologia (IIT)
+% All Rights Reserved.
+%
+% Author: Simone Girardi <simone.girardi@iit.it>
+
+%load('robot_logger_device.mat');
+load('robot_logged_data.mat');
+Ts = 0.001;
+
+%N = 25;
+%p = robot_logger_device.joints_state.positions.data(N, :)';
+%v = robot_logger_device.joints_state.velocities.data(N, :)';
+%a = robot_logger_device.joints_state.accelerations.data(N, :)';
+
+p = robot_logged_data.p;
+v = robot_logged_data.v;
+a = robot_logged_data.a;
+
+L = min([length(p), length(v), length(a)]);
+%p = p(1:L);
+%v = v(1:L);
+%a = a(1:L);
+t = (0:L-1)' * Ts;
+
+simin = [t p v a];
+
+order = 3;
+assert(order>=3);
+
+x0 = [simin(1, 2:end)'; zeros(order-3, 1)];
+Q = [1e-4; 1e-2; 10];
+R = 1e-4;
+P0 = 9.9e-05;
diff --git a/kalman_filter/tests/robot_logged_data.mat b/kalman_filter/tests/robot_logged_data.mat
new file mode 100644
index 00000000..2c0e8566
--- /dev/null
+++ b/kalman_filter/tests/robot_logged_data.mat
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cadb7d4d0e09f6d42c57abd11edea461aa75a23a4ae6f24f283906631c37fd7a
+size 133031