clear all; Hold off;
Theta=[0 0 0 0];

T0=0.5;
m=2;
N=20;
tstop=N*T0;



sim_parameter=simset('MaxRows',10000,'refine',1,'Solver','ode23s','FixedStep',1e-5);
[t]=sim('ls_2005',[0 tstop],sim_parameter);


disp('u   y')
disp([u_ y_])


figure(1)
subplot(1,2,1);stem(t_,u_,'k');axis([0 10 0 3]),xlabel('t in sec');ylabel('u');
subplot(1,2,2);stem(t_,y_,'k');xlabel('t in sec');ylabel('y');

k=2:length(y_);Y=y_(k);
k=1:length(y_)-1; u1=[u_(k)];y1=[y_(k)]; k=1:length(y_)-2; u2=[0;u_(k)]; y2=[0;y_(k)];

PSI=[-y1 -y2 u1 u2];

Theta=(PSI'*PSI)^(-1)*PSI'*Y;
Gz=tf([Theta(3) Theta(4)],[1 Theta(1) Theta(2)],1);
%disp(Gz);
disp(Theta);


sim_parameter=simset('MaxRows',10000,'refine',1,'Solver','ode23s','FixedStep',1e-5);
[t]=sim('ls_2005',[0 tstop],sim_parameter);

V=sum(ehoch2);
disp(V);

figure(2);plot(t,y,'k--');hold on; stairs(t_,ydach,'r')
xlabel('t in sec');ylabel('y  (unterbrochene Linie) ydach (durchgezogene Linie)')