Closed-loop simulation example

2-norm of error:

Without 0.0384

With 0.0211

Dt = 60 seconds

m = 2 moves

p = 40 samples

Gy = 1

Gu = 0.1

h = 30 measurements

m1 =10

m2 = 0.8 [ 1 1 1 1 1 1 ]

m3 = 0.2 [ 1 1 1 1 1 1 ]