Algorithm 3: Compute the standard output function, yvar,k

$for i=1 to N_{out}$ $\left\{Clear C_{x_{ekf}}\left[i\right]\right\}$ $for i=1 to N_{out}$ $\{for j=1 to N_{out}$ $\left\{C_{x_{ekf}}\left[i\right]=C\left[i\right]\left[j\right]\ast x_{ekf}\left[j\right] \right\}\}$ $for i=1 to N_{out}$ $\left\{y_{var}\left[i\right]=C_{x_{ekf}}\left[i\right]+u_k\ast D\left[i\right]\right\}$