figure;
subplot(411)
plot(t,x(:,1),t,xest(:,1));
title('x1');
subplot(412)
plot(t,x(:,2),t,xest(:,2));
title('x2');
subplot(413)
plot(t,x(:,3),t,xest(:,3));
title('x3');
subplot(414)
plot(t,u);
title('u');