The block could not compute a convergent Kalman estimator for this plant model and covariance data. To remedy the problem:\n1. Make sure that all unstable poles of A are observable through C (use MINREAL to check)\n2. Modify the weights Q, R and N to make [G 0;H I]*[Q N;N'' R]*[G 0;H I]'' positive definite (use EIG to check).


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