Table 1.

Modeling parameters

Parameter	Values	Description
A	$\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ -1& 0& 0\end{array}\right]$	State transition matrix
B	$\left[\begin{array}{ccc}0& 0& 1\end{array}\right]\prime$	Input matrix
C	$\left[\begin{array}{ccc}1& 1& 0\\ 0& 0& 1\end{array}\right]$	Output matrix
Q	$\left[\begin{array}{ccc}\mathrm{var}\left(w_1\right)& 0& 0\\ 0& \mathrm{var}\left(w_2\right)& 0\\ 0& 0& \mathrm{var}\left(w_3\right)\end{array}\right]$	Process noise covariance matrix
R	$\left[\begin{array}{cc}\mathrm{var}\left(v_1\right)& 0\\ 0& \mathrm{var}\left(\alpha \cdot v_1\right)\end{array}\right]$	Sensory noise covariance matrix