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inout = KALMAN({
             ATTRIBUTES = ['x1','x2'], 
             INITIALSTATE = '[0.0, 0.0, 0.0, 0.0]', 
             INITIALERROR = '[1.0,0.0,0.0,0.0;0.0,1.0,0.0,0.0;0.0,0.0,1.0,0.0;0.0,0.0,0.0,1.0]',
             TRANSITION = '[1.0,0.0,1.0,0.0;0.0,1.0,0.0,1.0;0.0,0.0,1.0,0.0;0.0,0.0,0.0,1.0]', 
             PROCESSNOISE = '[1/4, 1/4, 1/2, 1/2;1/4, 1/4, 1/2, 1/2; 1/2, 1/2, 1, 1; 1/2, 1/2, 1, 1]',
             MEASUREMENT = '[0.0,0.0,1.0,0.0;0.0,0.0,0.0,1.0]', 
             MEASUREMENTNOISE = '[10.0,0.0;0.0,10.0]'},
            out in)