% Kalmanuv filtr
Pcit_p=1;
Pjmn_p=(s-1)^3;
P=tf(Pcit_p,Pjmn_p);
Ts=0.1;
Pdis=c2d(P,Ts,'zoh');
[M,N,C,D]=ssdata(Pdis);

Ns=size(M);

Q=diag([0.01 0.01 0.1 0.1]);
R=0.05;

v=chol(Q)*randn(Ns,1)
e=chol(R).*randn(1,1)