c526.m   - script to load data files
doit1.m  - scripts to plot stuff
doit2.m
doit3.m
kf2.m    - Kalman filters
kf.m
model-based-design-scripts  - scripts to design controllers and filters
regress.m - do all processing
twip2.m - latest model of our robot.

To recreate the figure:
matlab
c526
data = ff000;
doit2
