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%Äëÿ ðàáîòû òðåáóåòñÿ ïðåäâàðèòåëüíî çàãðóçèòü â ðàáî÷óþ îáëàñòü ñïèñîê ïåðåìåííûõ (ôàéë discrete_model_variables)
Kalman_1F_sm;

Adaptive_Kalman_2nd_Kind;

figure
exclude_num = 600;
plot(time', dV_measured(:,1),'red',time(1+exclude_num:N)', dV_Filtered_2ndT(1+exclude_num:N,1), 'blue',time(1+exclude_num:N)', dV_Filtered(1+exclude_num:N,1), 'green' );
title({'delta V measured - red, delta V estimated - blue, delta V adaptively estimated - green';[' R(measurment) = ',num2str(R)]});
xlabel('sec');
ylabel('m/s');
figure
plot(time', Fi(:,1),'red',time(1+exclude_num:N)', Fi_Filtered_2ndT(1+exclude_num:N,1), 'blue',time(1+exclude_num:N)', Fi_Filtered(1+exclude_num:N,1),'green');
title({'Fi - red, Fi estimated - blue, Fi adaptively estimated - green';[' R(measurment) = ',num2str(R)]});
xlabel('sec');
ylabel('rad');
figure
plot(time', dW(:,1),'red',time(1+exclude_num:N)', dW_Filtered_2ndT(1+exclude_num:N,1), 'blue',time(1+exclude_num:N)', dW_Filtered(1+exclude_num:N,1),'green');
title({'delta W - red, delta W estimated - blue, delta W adaptively estimated - green';[' R(measurment) = ',num2str(R)]});
xlabel('sec');
ylabel('rad/s');