function [ztrata control y b P]=sloz(apriori,system)

    [H u]=load_H;
    
    %for i=1:size(H,1);       
     %   plot(H(i,:,1),H(i,:,2),'g.');    end
    
    %plot(H(1,:,1),H(1,:,2),'g.');    hold on
    %plot(H(1,index,1), H(1,index,2),'r+');   
    %plot(eta_tilda, beta_tilda,'b.');  hold off
    
    [ztrata control y b P]=rizeni(H,u,system,apriori);
end

function next=kalman_filter(state,u,sigma)
%OK
%prostor hyperstavu - kazdy bod ma souradnice (y, b, P)

%realization
next(1)=state(1)+(state(2)+state(3)*randn)*u+sigma*randn;
    
%kalman
    K=u*state(3)/(state(3)*u^2+sigma^2);
    next(2)=state(2)+K*(next(1)-state(1)-state(2)*u);
    next(3)=(1-K*u)*state(3);
end