سعید کاسیاسgama = 0.5;
beta = 1/6
k = [400,-200;-200,200];
m = [1,0;0,1];
c = [1.0768,-0.4728;-0.4728,0.6040];
delta_p = [0.0564;-0.0886];
delta_t = 0.02;
x= [0.0169;0.006];
x_dot= [0.1870;0.1106];
x_Wdot= [-2.7713;-2.3492];
k_hat=k+(gama/(beta*delta_t))*c+(1/(beta*delta_t^2))*m
