12011-03-22 18:12:14Jaarac$$$ x_{(t)} = \left[\matrix{ \theta \cr \dot{\theta}}\right] $$ , $$$ y_{(t)} = \left[\matrix{ y_1 \cr y_2 }\right] $$ , $$$ v{(t)} = \left[\matrix{ v_1 \cr v_2 }\right] $$$$$ {\dot{x}}_{(t)} = \left[\matrix{ 0 & 1 \cr 0 & 0 }\right]x_{(t)} + \left[\matrix{ 0 \cr 1 }\right]w_{(t)} $$$$$ x_{(t)} = \left[\matrix{ 0 & c_1 \cr c_2 & 0 }\right]x_{(t)} + v_{(t)} $$$$$ E\left\lbrace w_{(r)}v_{(s)} \right\rbrace = 0 $$ , $$$ E\left\lbrace w^2_{(t)} \right\rbrace = q $$