Files
optimiz-rs/docs/source/_static/diagrams/fig_kalman_covariance.svg
T

1903 lines
50 KiB
XML
Raw Normal View History

<?xml version="1.0" encoding="utf-8" standalone="no"?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<svg xmlns:xlink="http://www.w3.org/1999/xlink" width="440.95875pt" height="253.91625pt" viewBox="0 0 440.95875 253.91625" xmlns="http://www.w3.org/2000/svg" version="1.1">
<metadata>
<rdf:RDF xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:cc="http://creativecommons.org/ns#" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#">
<cc:Work>
<dc:type rdf:resource="http://purl.org/dc/dcmitype/StillImage"/>
<dc:date>2026-03-07T13:33:17.811206</dc:date>
<dc:format>image/svg+xml</dc:format>
<dc:creator>
<cc:Agent>
<dc:title>Matplotlib v3.8.4, https://matplotlib.org/</dc:title>
</cc:Agent>
</dc:creator>
</cc:Work>
</rdf:RDF>
</metadata>
<defs>
<style type="text/css">*{stroke-linejoin: round; stroke-linecap: butt}</style>
</defs>
<g id="figure_1">
<g id="patch_1">
<path d="M 0 253.91625
L 440.95875 253.91625
L 440.95875 0
L 0 0
z
" style="fill: #ffffff"/>
</g>
<g id="axes_1">
<g id="patch_2">
<path d="M 43.15875 216.36
L 433.75875 216.36
L 433.75875 22.32
L 43.15875 22.32
z
" style="fill: #ffffff"/>
</g>
<g id="PolyCollection_1">
<defs>
<path id="m3bf308b8d0" d="M 60.913295 -68.97225
L 60.913295 -222.35625
L 62.10089 -217.063335
L 63.288485 -211.953066
L 64.47608 -207.01914
L 65.663676 -202.255472
L 66.851271 -197.656187
L 68.038866 -193.215612
L 69.226461 -188.928271
L 70.414056 -184.788876
L 71.601651 -180.792321
L 72.789246 -176.933678
L 73.976841 -173.208187
L 75.164436 -169.611254
L 76.352031 -166.138443
L 77.539626 -162.78547
L 78.727221 -159.5482
L 79.914816 -156.422641
L 81.102411 -153.404937
L 82.290006 -150.491367
L 83.477601 -147.678337
L 84.665196 -144.962379
L 85.852791 -142.340141
L 87.040386 -139.808391
L 88.227981 -137.364005
L 89.415576 -135.003969
L 90.603171 -132.725372
L 91.790766 -130.525405
L 92.978361 -128.401352
L 94.165956 -126.350596
L 95.353551 -124.370607
L 96.541146 -122.458942
L 97.728741 -120.613244
L 98.916336 -118.831237
L 100.103931 -117.110723
L 101.291526 -115.449579
L 102.479121 -113.845758
L 103.666716 -112.29728
L 104.854311 -110.802237
L 106.041906 -109.358784
L 107.229501 -107.965142
L 108.417096 -106.61959
L 109.604691 -105.320471
L 110.792286 -104.06618
L 111.979881 -102.855173
L 113.167476 -101.685954
L 114.355071 -100.557083
L 115.542666 -99.467166
L 116.730261 -98.414859
L 117.917856 -97.398865
L 119.105451 -96.41793
L 120.293046 -95.470846
L 121.480641 -94.556443
L 122.668236 -93.673593
L 123.855831 -92.821209
L 125.043426 -91.998238
L 126.231021 -91.203667
L 127.418616 -90.436514
L 128.606211 -89.695833
L 129.793806 -88.980712
L 130.981401 -88.290268
L 132.168996 -87.623649
L 133.356591 -86.980034
L 134.544186 -86.358629
L 135.731781 -85.758666
L 136.919376 -85.179407
L 138.106971 -84.620137
L 139.294566 -84.080166
L 140.482161 -83.558828
L 141.669756 -83.05548
L 142.857351 -82.569501
L 144.044946 -82.100293
L 145.232541 -81.647275
L 146.420136 -81.20989
L 147.607731 -80.787599
L 148.795326 -80.379879
L 149.982921 -79.986229
L 151.170516 -79.606163
L 152.358112 -79.239212
L 153.545707 -78.884924
L 154.733302 -78.542861
L 155.920897 -78.212602
L 157.108492 -77.89374
L 158.296087 -77.585881
L 159.483682 -77.288645
L 160.671277 -77.001666
L 161.858872 -76.72459
L 163.046467 -76.457075
L 164.234062 -76.198792
L 165.421657 -75.949421
L 166.609252 -75.708656
L 167.796847 -75.476199
L 168.984442 -75.251763
L 170.172037 -75.035072
L 171.359632 -74.825858
L 172.547227 -74.623864
L 173.734822 -74.428841
L 174.922417 -74.240547
L 176.110012 -74.05875
L 177.297607 -73.883228
L 178.485202 -73.713761
L 179.672797 -73.550143
L 180.860392 -73.392171
L 182.047987 -73.23965
L 183.235582 -73.092392
L 184.423177 -72.950216
L 185.610772 -72.812946
L 186.798367 -72.680413
L 187.985962 -72.552453
L 189.173557 -72.428909
L 190.361152 -72.309628
L 191.548747 -72.194463
L 192.736342 -72.083272
L 193.923937 -71.975918
L 195.111532 -71.872269
L 196.299127 -71.772196
L 197.486722 -71.675576
L 198.674317 -71.582291
L 199.861912 -71.492225
L 201.049507 -71.405267
L 202.237102 -71.321309
L 203.424697 -71.240249
L 204.612292 -71.161985
L 205.799887 -71.086423
L 206.987482 -71.013468
L 208.175077 -70.94303
L 209.362672 -70.875023
L 210.550267 -70.809363
L 211.737862 -70.745969
L 212.925457 -70.684762
L 214.113052 -70.625667
L 215.300647 -70.568612
L 216.488242 -70.513525
L 217.675837 -70.460339
L 218.863432 -70.408989
L 220.051027 -70.359411
L 221.238622 -70.311543
L 222.426217 -70.265327
L 223.613812 -70.220706
L 224.801407 -70.177625
L 225.989002 -70.13603
L 227.176597 -70.095871
L 228.364192 -70.057098
L 229.551787 -70.019662
L 230.739382 -69.983518
L 231.926977 -69.948622
L 233.114572 -69.91493
L 234.302167 -69.8824
L 235.489762 -69.850993
L 236.677357 -69.82067
L 237.864952 -69.791393
L 239.052548 -69.763126
L 240.240143 -69.735835
L 241.427738 -69.709485
L 242.615333 -69.684045
L 243.802928 -69.659483
L 244.990523 -69.635768
L 246.178118 -69.612872
L 247.365713 -69.590765
L 248.553308 -69.569422
L 249.740903 -69.548815
L 250.928498 -69.528919
L 252.116093 -69.50971
L 253.303688 -69.491163
L 254.491283 -69.473257
L 255.678878 -69.455968
L 256.866473 -69.439276
L 258.054068 -69.42316
L 259.241663 -69.4076
L 260.429258 -69.392578
L 261.616853 -69.378073
L 262.804448 -69.364069
L 263.992043 -69.350548
L 265.179638 -69.337494
L 266.367233 -69.32489
L 267.554828 -69.312722
L 268.742423 -69.300973
L 269.930018 -69.289629
L 271.117613 -69.278677
L 272.305208 -69.268103
L 273.492803 -69.257894
L 274.680398 -69.248037
L 275.867993 -69.23852
L 277.055588 -69.229332
L 278.243183 -69.220461
L 279.430778 -69.211896
L 280.618373 -69.203626
L 281.805968 -69.195642
L 282.993563 -69.187933
L 284.181158 -69.18049
L 285.368753 -69.173305
L 286.556348 -69.166367
L 287.743943 -69.159668
L 288.931538 -69.153201
L 290.119133 -69.146957
L 291.306728 -69.140928
L 292.494323 -69.135107
L 293.681918 -69.129487
L 294.869513 -69.124062
L 296.057108 -69.118823
L 297.244703 -69.113765
L 298.432298 -69.108882
L 299.619893 -69.104167
L 300.807488 -69.099615
L 301.995083 -69.09522
L 303.182678 -69.090976
L 304.370273 -69.086879
L 305.557868 -69.082924
L 306.745463 -69.079105
L 307.933058 -69.075417
L 309.120653 -69.071857
L 310.308248 -69.06842
L 311.495843 -69.065101
L 312.683438 -69.061897
L 313.871033 -69.058804
L 315.058628 -69.055817
L 316.246223 -69.052933
L 317.433818 -69.050149
L 318.621413 -69.047461
L 319.809008 -69.044866
L 320.996603 -69.04236
L 322.184198 -69.039941
L 323.371793 -69.037605
L 324.559388 -69.03535
L 325.746984 -69.033172
L 326.934579 -69.03107
L 328.122174 -69.02904
L 329.309769 -69.02708
L 330.497364 -69.025188
L 331.684959 -69.023362
L 332.872554 -69.021598
L 334.060149 -69.019895
L 335.247744 -69.018251
L 336.435339 -69.016663
L 337.622934 -69.015131
L 338.810529 -69.013651
L 339.998124 -69.012222
L 341.185719 -69.010843
L 342.373314 -69.009511
L 343.560909 -69.008226
L 344.748504 -69.006984
L 345.936099 -69.005786
L 347.123694 -69.004628
L 348.311289 -69.003511
L 349.498884 -69.002432
L 350.686479 -69.001391
L 351.874074 -69.000385
L 353.061669 -68.999414
L 354.249264 -68.998477
L 355.436859 -68.997572
L 356.624454 -68.996698
L 357.812049 -68.995854
L 358.999644 -68.99504
L 360.187239 -68.994254
L 361.374834 -68.993494
L 362.562429 -68.992761
L 363.750024 -68.992053
L 364.937619 -68.99137
L 366.125214 -68.99071
L 367.312809 -68.990073
L 368.500404 -68.989458
L 369.687999 -68.988864
L 370.875594 -68.988291
L 372.063189 -68.987737
L 373.250784 -68.987203
L 374.438379 -68.986687
L 375.625974 -68.986189
L 376.813569 -68.985708
L 378.001164 -68.985243
L 379.188759 -68.984795
L 380.376354 -68.984362
L 381.563949 -68.983944
L 382.751544 -68.983541
L 383.939139 -68.983151
L 385.126734 -68.982775
L 386.314329 -68.982412
L 387.501924 -68.982061
L 388.689519 -68.981722
L 389.877114 -68.981396
L 391.064709 -68.98108
L 392.252304 -68.980775
L 393.439899 -68.980481
L 394.627494 -68.980197
L 395.815089 -68.979923
L 397.002684 -68.979658
L 398.190279 -68.979402
L 399.377874 -68.979156
L 400.565469 -68.978917
L 401.753064 -68.978687
L 402.940659 -68.978465
L 404.128254 -68.978251
L 405.315849 -68.978044
L 406.503444 -68.977844
L 407.691039 -68.977651
L 408.878634 -68.977464
L 410.066229 -68.977284
L 411.253824 -68.977111
L 412.44142 -68.976943
L 413.629015 -68.976781
L 414.81661 -68.976625
L 416.004205 -68.976474
L 416.004205 -68.97225
L 416.004205 -68.97225
L 414.81661 -68.97225
L 413.629015 -68.97225
L 412.44142 -68.97225
L 411.253824 -68.97225
L 410.066229 -68.97225
L 408.878634 -68.97225
L 407.691039 -68.97225
L 406.503444 -68.97225
L 405.315849 -68.97225
L 404.128254 -68.97225
L 402.940659 -68.97225
L 401.753064 -68.97225
L 400.565469 -68.97225
L 399.377874 -68.97225
L 398.190279 -68.97225
L 397.002684 -68.97225
L 395.815089 -68.97225
L 394.627494 -68.97225
L 393.439899 -68.97225
L 392.252304 -68.97225
L 391.064709 -68.97225
L 389.877114 -68.97225
L 388.689519 -68.97225
L 387.501924 -68.97225
L 386.314329 -68.97225
L 385.126734 -68.97225
L 383.939139 -68.97225
L 382.751544 -68.97225
L 381.563949 -68.97225
L 380.376354 -68.97225
L 379.188759 -68.97225
L 378.001164 -68.97225
L 376.813569 -68.97225
L 375.625974 -68.97225
L 374.438379 -68.97225
L 373.250784 -68.97225
L 372.063189 -68.97225
L 370.875594 -68.97225
L 369.687999 -68.97225
L 368.500404 -68.97225
L 367.312809 -68.97225
L 366.125214 -68.97225
L 364.937619 -68.97225
L 363.750024 -68.97225
L 362.562429 -68.97225
L 361.374834 -68.97225
L 360.187239 -68.97225
L 358.999644 -68.97225
L 357.812049 -68.97225
L 356.624454 -68.97225
L 355.436859 -68.97225
L 354.249264 -68.97225
L 353.061669 -68.97225
L 351.874074 -68.97225
L 350.686479 -68.97225
L 349.498884 -68.97225
L 348.311289 -68.97225
L 347.123694 -68.97225
L 345.936099 -68.97225
L 344.748504 -68.97225
L 343.560909 -68.97225
L 342.373314 -68.97225
L 341.185719 -68.97225
L 339.998124 -68.97225
L 338.810529 -68.97225
L 337.622934 -68.97225
L 336.435339 -68.97225
L 335.247744 -68.97225
L 334.060149 -68.97225
L 332.872554 -68.97225
L 331.684959 -68.97225
L 330.497364 -68.97225
L 329.309769 -68.97225
L 328.122174 -68.97225
L 326.934579 -68.97225
L 325.746984 -68.97225
L 324.559388 -68.97225
L 323.371793 -68.97225
L 322.184198 -68.97225
L 320.996603 -68.97225
L 319.809008 -68.97225
L 318.621413 -68.97225
L 317.433818 -68.97225
L 316.246223 -68.97225
L 315.058628 -68.97225
L 313.871033 -68.97225
L 312.683438 -68.97225
L 311.495843 -68.97225
L 310.308248 -68.97225
L 309.120653 -68.97225
L 307.933058 -68.97225
L 306.745463 -68.97225
L 305.557868 -68.97225
L 304.370273 -68.97225
L 303.182678 -68.97225
L 301.995083 -68.97225
L 300.807488 -68.97225
L 299.619893 -68.97225
L 298.432298 -68.97225
L 297.244703 -68.97225
L 296.057108 -68.97225
L 294.869513 -68.97225
L 293.681918 -68.97225
L 292.494323 -68.97225
L 291.306728 -68.97225
L 290.119133 -68.97225
L 288.931538 -68.97225
L 287.743943 -68.97225
L 286.556348 -68.97225
L 285.368753 -68.97225
L 284.181158 -68.97225
L 282.993563 -68.97225
L 281.805968 -68.97225
L 280.618373 -68.97225
L 279.430778 -68.97225
L 278.243183 -68.97225
L 277.055588 -68.97225
L 275.867993 -68.97225
L 274.680398 -68.97225
L 273.492803 -68.97225
L 272.305208 -68.97225
L 271.117613 -68.97225
L 269.930018 -68.97225
L 268.742423 -68.97225
L 267.554828 -68.97225
L 266.367233 -68.97225
L 265.179638 -68.97225
L 263.992043 -68.97225
L 262.804448 -68.97225
L 261.616853 -68.97225
L 260.429258 -68.97225
L 259.241663 -68.97225
L 258.054068 -68.97225
L 256.866473 -68.97225
L 255.678878 -68.97225
L 254.491283 -68.97225
L 253.303688 -68.97225
L 252.116093 -68.97225
L 250.928498 -68.97225
L 249.740903 -68.97225
L 248.553308 -68.97225
L 247.365713 -68.97225
L 246.178118 -68.97225
L 244.990523 -68.97225
L 243.802928 -68.97225
L 242.615333 -68.97225
L 241.427738 -68.97225
L 240.240143 -68.97225
L 239.052548 -68.97225
L 237.864952 -68.97225
L 236.677357 -68.97225
L 235.489762 -68.97225
L 234.302167 -68.97225
L 233.114572 -68.97225
L 231.926977 -68.97225
L 230.739382 -68.97225
L 229.551787 -68.97225
L 228.364192 -68.97225
L 227.176597 -68.97225
L 225.989002 -68.97225
L 224.801407 -68.97225
L 223.613812 -68.97225
L 222.426217 -68.97225
L 221.238622 -68.97225
L 220.051027 -68.97225
L 218.863432 -68.97225
L 217.675837 -68.97225
L 216.488242 -68.97225
L 215.300647 -68.97225
L 214.113052 -68.97225
L 212.925457 -68.97225
L 211.737862 -68.97225
L 210.550267 -68.97225
L 209.362672 -68.97225
L 208.175077 -68.97225
L 206.987482 -68.97225
L 205.799887 -68.97225
L 204.612292 -68.97225
L 203.424697 -68.97225
L 202.237102 -68.97225
L 201.049507 -68.97225
L 199.861912 -68.97225
L 198.674317 -68.97225
L 197.486722 -68.97225
L 196.299127 -68.97225
L 195.111532 -68.97225
L 193.923937 -68.97225
L 192.736342 -68.97225
L 191.548747 -68.97225
L 190.361152 -68.97225
L 189.173557 -68.97225
L 187.985962 -68.97225
L 186.798367 -68.97225
L 185.610772 -68.97225
L 184.423177 -68.97225
L 183.235582 -68.97225
L 182.047987 -68.97225
L 180.860392 -68.97225
L 179.672797 -68.97225
L 178.485202 -68.97225
L 177.297607 -68.97225
L 176.110012 -68.97225
L 174.922417 -68.97225
L 173.734822 -68.97225
L 172.547227 -68.97225
L 171.359632 -68.97225
L 170.172037 -68.97225
L 168.984442 -68.97225
L 167.796847 -68.97225
L 166.609252 -68.97225
L 165.421657 -68.97225
L 164.234062 -68.97225
L 163.046467 -68.97225
L 161.858872 -68.97225
L 160.671277 -68.97225
L 159.483682 -68.97225
L 158.296087 -68.97225
L 157.108492 -68.97225
L 155.920897 -68.97225
L 154.733302 -68.97225
L 153.545707 -68.97225
L 152.358112 -68.97225
L 151.170516 -68.97225
L 149.982921 -68.97225
L 148.795326 -68.97225
L 147.607731 -68.97225
L 146.420136 -68.97225
L 145.232541 -68.97225
L 144.044946 -68.97225
L 142.857351 -68.97225
L 141.669756 -68.97225
L 140.482161 -68.97225
L 139.294566 -68.97225
L 138.106971 -68.97225
L 136.919376 -68.97225
L 135.731781 -68.97225
L 134.544186 -68.97225
L 133.356591 -68.97225
L 132.168996 -68.97225
L 130.981401 -68.97225
L 129.793806 -68.97225
L 128.606211 -68.97225
L 127.418616 -68.97225
L 126.231021 -68.97225
L 125.043426 -68.97225
L 123.855831 -68.97225
L 122.668236 -68.97225
L 121.480641 -68.97225
L 120.293046 -68.97225
L 119.105451 -68.97225
L 117.917856 -68.97225
L 116.730261 -68.97225
L 115.542666 -68.97225
L 114.355071 -68.97225
L 113.167476 -68.97225
L 111.979881 -68.97225
L 110.792286 -68.97225
L 109.604691 -68.97225
L 108.417096 -68.97225
L 107.229501 -68.97225
L 106.041906 -68.97225
L 104.854311 -68.97225
L 103.666716 -68.97225
L 102.479121 -68.97225
L 101.291526 -68.97225
L 100.103931 -68.97225
L 98.916336 -68.97225
L 97.728741 -68.97225
L 96.541146 -68.97225
L 95.353551 -68.97225
L 94.165956 -68.97225
L 92.978361 -68.97225
L 91.790766 -68.97225
L 90.603171 -68.97225
L 89.415576 -68.97225
L 88.227981 -68.97225
L 87.040386 -68.97225
L 85.852791 -68.97225
L 84.665196 -68.97225
L 83.477601 -68.97225
L 82.290006 -68.97225
L 81.102411 -68.97225
L 79.914816 -68.97225
L 78.727221 -68.97225
L 77.539626 -68.97225
L 76.352031 -68.97225
L 75.164436 -68.97225
L 73.976841 -68.97225
L 72.789246 -68.97225
L 71.601651 -68.97225
L 70.414056 -68.97225
L 69.226461 -68.97225
L 68.038866 -68.97225
L 66.851271 -68.97225
L 65.663676 -68.97225
L 64.47608 -68.97225
L 63.288485 -68.97225
L 62.10089 -68.97225
L 60.913295 -68.97225
z
" style="stroke: #2e6be5; stroke-opacity: 0.1"/>
</defs>
<g clip-path="url(#p8f6554bfa8)">
<use xlink:href="#m3bf308b8d0" x="0" y="253.91625" style="fill: #2e6be5; fill-opacity: 0.1; stroke: #2e6be5; stroke-opacity: 0.1"/>
</g>
</g>
<g id="matplotlib.axis_1">
<g id="xtick_1">
<g id="line2d_1">
<defs>
<path id="m28e86f0221" d="M 0 0
L 0 3.5
" style="stroke: #000000; stroke-width: 0.8"/>
</defs>
<g>
<use xlink:href="#m28e86f0221" x="60.913295" y="216.36" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_1">
<!-- 0 -->
<g transform="translate(58.05017 230.198594) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-30" d="M 2034 4250
Q 1547 4250 1301 3770
Q 1056 3291 1056 2328
Q 1056 1369 1301 889
Q 1547 409 2034 409
Q 2525 409 2770 889
Q 3016 1369 3016 2328
Q 3016 3291 2770 3770
Q 2525 4250 2034 4250
z
M 2034 4750
Q 2819 4750 3233 4129
Q 3647 3509 3647 2328
Q 3647 1150 3233 529
Q 2819 -91 2034 -91
Q 1250 -91 836 529
Q 422 1150 422 2328
Q 422 3509 836 4129
Q 1250 4750 2034 4750
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-30"/>
</g>
</g>
</g>
<g id="xtick_2">
<g id="line2d_2">
<g>
<use xlink:href="#m28e86f0221" x="120.095114" y="216.36" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_2">
<!-- 5 -->
<g transform="translate(117.231989 230.198594) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-35" d="M 691 4666
L 3169 4666
L 3169 4134
L 1269 4134
L 1269 2991
Q 1406 3038 1543 3061
Q 1681 3084 1819 3084
Q 2600 3084 3056 2656
Q 3513 2228 3513 1497
Q 3513 744 3044 326
Q 2575 -91 1722 -91
Q 1428 -91 1123 -41
Q 819 9 494 109
L 494 744
Q 775 591 1075 516
Q 1375 441 1709 441
Q 2250 441 2565 725
Q 2881 1009 2881 1497
Q 2881 1984 2565 2268
Q 2250 2553 1709 2553
Q 1456 2553 1204 2497
Q 953 2441 691 2322
L 691 4666
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-35"/>
</g>
</g>
</g>
<g id="xtick_3">
<g id="line2d_3">
<g>
<use xlink:href="#m28e86f0221" x="179.276932" y="216.36" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_3">
<!-- 10 -->
<g transform="translate(173.550682 230.198594) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-31" d="M 794 531
L 1825 531
L 1825 4091
L 703 3866
L 703 4441
L 1819 4666
L 2450 4666
L 2450 531
L 3481 531
L 3481 0
L 794 0
L 794 531
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-31"/>
<use xlink:href="#DejaVuSans-30" x="63.623047"/>
</g>
</g>
</g>
<g id="xtick_4">
<g id="line2d_4">
<g>
<use xlink:href="#m28e86f0221" x="238.45875" y="216.36" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_4">
<!-- 15 -->
<g transform="translate(232.7325 230.198594) scale(0.09 -0.09)">
<use xlink:href="#DejaVuSans-31"/>
<use xlink:href="#DejaVuSans-35" x="63.623047"/>
</g>
</g>
</g>
<g id="xtick_5">
<g id="line2d_5">
<g>
<use xlink:href="#m28e86f0221" x="297.640568" y="216.36" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_5">
<!-- 20 -->
<g transform="translate(291.914318 230.198594) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-32" d="M 1228 531
L 3431 531
L 3431 0
L 469 0
L 469 531
Q 828 903 1448 1529
Q 2069 2156 2228 2338
Q 2531 2678 2651 2914
Q 2772 3150 2772 3378
Q 2772 3750 2511 3984
Q 2250 4219 1831 4219
Q 1534 4219 1204 4116
Q 875 4013 500 3803
L 500 4441
Q 881 4594 1212 4672
Q 1544 4750 1819 4750
Q 2544 4750 2975 4387
Q 3406 4025 3406 3419
Q 3406 3131 3298 2873
Q 3191 2616 2906 2266
Q 2828 2175 2409 1742
Q 1991 1309 1228 531
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-32"/>
<use xlink:href="#DejaVuSans-30" x="63.623047"/>
</g>
</g>
</g>
<g id="xtick_6">
<g id="line2d_6">
<g>
<use xlink:href="#m28e86f0221" x="356.822386" y="216.36" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_6">
<!-- 25 -->
<g transform="translate(351.096136 230.198594) scale(0.09 -0.09)">
<use xlink:href="#DejaVuSans-32"/>
<use xlink:href="#DejaVuSans-35" x="63.623047"/>
</g>
</g>
</g>
<g id="xtick_7">
<g id="line2d_7">
<g>
<use xlink:href="#m28e86f0221" x="416.004205" y="216.36" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_7">
<!-- 30 -->
<g transform="translate(410.277955 230.198594) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-33" d="M 2597 2516
Q 3050 2419 3304 2112
Q 3559 1806 3559 1356
Q 3559 666 3084 287
Q 2609 -91 1734 -91
Q 1441 -91 1130 -33
Q 819 25 488 141
L 488 750
Q 750 597 1062 519
Q 1375 441 1716 441
Q 2309 441 2620 675
Q 2931 909 2931 1356
Q 2931 1769 2642 2001
Q 2353 2234 1838 2234
L 1294 2234
L 1294 2753
L 1863 2753
Q 2328 2753 2575 2939
Q 2822 3125 2822 3475
Q 2822 3834 2567 4026
Q 2313 4219 1838 4219
Q 1578 4219 1281 4162
Q 984 4106 628 3988
L 628 4550
Q 988 4650 1302 4700
Q 1616 4750 1894 4750
Q 2613 4750 3031 4423
Q 3450 4097 3450 3541
Q 3450 3153 3228 2886
Q 3006 2619 2597 2516
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-33"/>
<use xlink:href="#DejaVuSans-30" x="63.623047"/>
</g>
</g>
</g>
<g id="text_8">
<!-- $t$ -->
<g transform="translate(236.25875 244.428594) scale(0.11 -0.11)">
<defs>
<path id="DejaVuSans-Oblique-74" d="M 2706 3500
L 2619 3053
L 1472 3053
L 1100 1153
Q 1081 1047 1072 975
Q 1063 903 1063 863
Q 1063 663 1183 572
Q 1303 481 1569 481
L 2150 481
L 2053 0
L 1503 0
Q 991 0 739 200
Q 488 400 488 806
Q 488 878 497 964
Q 506 1050 525 1153
L 897 3053
L 409 3053
L 500 3500
L 978 3500
L 1172 4494
L 1747 4494
L 1556 3500
L 2706 3500
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-Oblique-74" transform="translate(0 0.78125)"/>
</g>
</g>
</g>
<g id="matplotlib.axis_2">
<g id="ytick_1">
<g id="line2d_8">
<defs>
<path id="m23ee7f8867" d="M 0 0
L -3.5 0
" style="stroke: #000000; stroke-width: 0.8"/>
</defs>
<g>
<use xlink:href="#m23ee7f8867" x="43.15875" y="216.36" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_9">
<!-- 0.0 -->
<g transform="translate(21.845938 219.779297) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-2e" d="M 684 794
L 1344 794
L 1344 0
L 684 0
L 684 794
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-30"/>
<use xlink:href="#DejaVuSans-2e" x="63.623047"/>
<use xlink:href="#DejaVuSans-30" x="95.410156"/>
</g>
</g>
</g>
<g id="ytick_2">
<g id="line2d_9">
<g>
<use xlink:href="#m23ee7f8867" x="43.15875" y="179.4" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_10">
<!-- 0.2 -->
<g transform="translate(21.845938 182.819297) scale(0.09 -0.09)">
<use xlink:href="#DejaVuSans-30"/>
<use xlink:href="#DejaVuSans-2e" x="63.623047"/>
<use xlink:href="#DejaVuSans-32" x="95.410156"/>
</g>
</g>
</g>
<g id="ytick_3">
<g id="line2d_10">
<g>
<use xlink:href="#m23ee7f8867" x="43.15875" y="142.44" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_11">
<!-- 0.4 -->
<g transform="translate(21.845938 145.859297) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-34" d="M 2419 4116
L 825 1625
L 2419 1625
L 2419 4116
z
M 2253 4666
L 3047 4666
L 3047 1625
L 3713 1625
L 3713 1100
L 3047 1100
L 3047 0
L 2419 0
L 2419 1100
L 313 1100
L 313 1709
L 2253 4666
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-30"/>
<use xlink:href="#DejaVuSans-2e" x="63.623047"/>
<use xlink:href="#DejaVuSans-34" x="95.410156"/>
</g>
</g>
</g>
<g id="ytick_4">
<g id="line2d_11">
<g>
<use xlink:href="#m23ee7f8867" x="43.15875" y="105.48" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_12">
<!-- 0.6 -->
<g transform="translate(21.845938 108.899297) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-36" d="M 2113 2584
Q 1688 2584 1439 2293
Q 1191 2003 1191 1497
Q 1191 994 1439 701
Q 1688 409 2113 409
Q 2538 409 2786 701
Q 3034 994 3034 1497
Q 3034 2003 2786 2293
Q 2538 2584 2113 2584
z
M 3366 4563
L 3366 3988
Q 3128 4100 2886 4159
Q 2644 4219 2406 4219
Q 1781 4219 1451 3797
Q 1122 3375 1075 2522
Q 1259 2794 1537 2939
Q 1816 3084 2150 3084
Q 2853 3084 3261 2657
Q 3669 2231 3669 1497
Q 3669 778 3244 343
Q 2819 -91 2113 -91
Q 1303 -91 875 529
Q 447 1150 447 2328
Q 447 3434 972 4092
Q 1497 4750 2381 4750
Q 2619 4750 2861 4703
Q 3103 4656 3366 4563
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-30"/>
<use xlink:href="#DejaVuSans-2e" x="63.623047"/>
<use xlink:href="#DejaVuSans-36" x="95.410156"/>
</g>
</g>
</g>
<g id="ytick_5">
<g id="line2d_12">
<g>
<use xlink:href="#m23ee7f8867" x="43.15875" y="68.52" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_13">
<!-- 0.8 -->
<g transform="translate(21.845938 71.939297) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-38" d="M 2034 2216
Q 1584 2216 1326 1975
Q 1069 1734 1069 1313
Q 1069 891 1326 650
Q 1584 409 2034 409
Q 2484 409 2743 651
Q 3003 894 3003 1313
Q 3003 1734 2745 1975
Q 2488 2216 2034 2216
z
M 1403 2484
Q 997 2584 770 2862
Q 544 3141 544 3541
Q 544 4100 942 4425
Q 1341 4750 2034 4750
Q 2731 4750 3128 4425
Q 3525 4100 3525 3541
Q 3525 3141 3298 2862
Q 3072 2584 2669 2484
Q 3125 2378 3379 2068
Q 3634 1759 3634 1313
Q 3634 634 3220 271
Q 2806 -91 2034 -91
Q 1263 -91 848 271
Q 434 634 434 1313
Q 434 1759 690 2068
Q 947 2378 1403 2484
z
M 1172 3481
Q 1172 3119 1398 2916
Q 1625 2713 2034 2713
Q 2441 2713 2670 2916
Q 2900 3119 2900 3481
Q 2900 3844 2670 4047
Q 2441 4250 2034 4250
Q 1625 4250 1398 4047
Q 1172 3844 1172 3481
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-30"/>
<use xlink:href="#DejaVuSans-2e" x="63.623047"/>
<use xlink:href="#DejaVuSans-38" x="95.410156"/>
</g>
</g>
</g>
<g id="ytick_6">
<g id="line2d_13">
<g>
<use xlink:href="#m23ee7f8867" x="43.15875" y="31.56" style="stroke: #000000; stroke-width: 0.8"/>
</g>
</g>
<g id="text_14">
<!-- 1.0 -->
<g transform="translate(21.845938 34.979297) scale(0.09 -0.09)">
<use xlink:href="#DejaVuSans-31"/>
<use xlink:href="#DejaVuSans-2e" x="63.623047"/>
<use xlink:href="#DejaVuSans-30" x="95.410156"/>
</g>
</g>
</g>
<g id="text_15">
<!-- $P_t$ -->
<g transform="translate(15.558281 124.345) rotate(-90) scale(0.11 -0.11)">
<defs>
<path id="DejaVuSans-Oblique-50" d="M 1081 4666
L 2541 4666
Q 3178 4666 3512 4369
Q 3847 4072 3847 3500
Q 3847 2731 3353 2303
Q 2859 1875 1966 1875
L 1172 1875
L 806 0
L 172 0
L 1081 4666
z
M 1613 4147
L 1275 2394
L 2069 2394
Q 2606 2394 2893 2669
Q 3181 2944 3181 3456
Q 3181 3784 2986 3965
Q 2791 4147 2438 4147
L 1613 4147
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-Oblique-50" transform="translate(0 0.09375)"/>
<use xlink:href="#DejaVuSans-Oblique-74" transform="translate(60.302734 -16.3125) scale(0.7)"/>
</g>
</g>
</g>
<g id="line2d_14">
<path d="M 60.913295 31.56
L 63.288485 41.963184
L 65.663676 51.660778
L 68.038866 60.700638
L 70.414056 69.127374
L 72.789246 76.982572
L 75.164436 84.304996
L 77.539626 91.13078
L 79.914816 97.493609
L 82.290006 103.424883
L 84.665196 108.953871
L 88.227981 116.552245
L 91.790766 123.390845
L 95.353551 129.545643
L 98.916336 135.085013
L 102.479121 140.070492
L 106.041906 144.557466
L 109.604691 148.595779
L 113.167476 152.230296
L 116.730261 155.501391
L 120.293046 158.445404
L 123.855831 161.095041
L 127.418616 163.479736
L 130.981401 165.625982
L 134.544186 167.557621
L 139.294566 169.836084
L 144.044946 171.815957
L 148.795326 173.536371
L 153.545707 175.031326
L 159.483682 176.627605
L 165.421657 177.966829
L 171.359632 179.090392
L 178.485202 180.202489
L 186.798367 181.235837
L 195.111532 182.043981
L 204.612292 182.754265
L 216.488242 183.402725
L 230.739382 183.932732
L 248.553308 184.346828
L 272.305208 184.648147
L 306.745463 184.837145
L 370.875594 184.927959
L 416.004205 184.939776
L 416.004205 184.939776
" clip-path="url(#p8f6554bfa8)" style="fill: none; stroke: #2e6be5; stroke-width: 2; stroke-linecap: square"/>
</g>
<g id="line2d_15">
<path d="M 43.15875 184.944
L 433.75875 184.944
" clip-path="url(#p8f6554bfa8)" style="fill: none; stroke-dasharray: 5.92,2.56; stroke-dashoffset: 0; stroke: #e8850a; stroke-width: 1.6"/>
</g>
<g id="patch_3">
<path d="M 43.15875 216.36
L 43.15875 22.32
" style="fill: none; stroke: #000000; stroke-width: 0.8; stroke-linejoin: miter; stroke-linecap: square"/>
</g>
<g id="patch_4">
<path d="M 43.15875 216.36
L 433.75875 216.36
" style="fill: none; stroke: #000000; stroke-width: 0.8; stroke-linejoin: miter; stroke-linecap: square"/>
</g>
<g id="text_16">
<!-- Kalman filter: error covariance converges exponentially to $P_\infty$ -->
<g transform="translate(53.89875 16.32) scale(0.12 -0.12)">
<defs>
<path id="DejaVuSans-4b" d="M 628 4666
L 1259 4666
L 1259 2694
L 3353 4666
L 4166 4666
L 1850 2491
L 4331 0
L 3500 0
L 1259 2247
L 1259 0
L 628 0
L 628 4666
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-61" d="M 2194 1759
Q 1497 1759 1228 1600
Q 959 1441 959 1056
Q 959 750 1161 570
Q 1363 391 1709 391
Q 2188 391 2477 730
Q 2766 1069 2766 1631
L 2766 1759
L 2194 1759
z
M 3341 1997
L 3341 0
L 2766 0
L 2766 531
Q 2569 213 2275 61
Q 1981 -91 1556 -91
Q 1019 -91 701 211
Q 384 513 384 1019
Q 384 1609 779 1909
Q 1175 2209 1959 2209
L 2766 2209
L 2766 2266
Q 2766 2663 2505 2880
Q 2244 3097 1772 3097
Q 1472 3097 1187 3025
Q 903 2953 641 2809
L 641 3341
Q 956 3463 1253 3523
Q 1550 3584 1831 3584
Q 2591 3584 2966 3190
Q 3341 2797 3341 1997
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-6c" d="M 603 4863
L 1178 4863
L 1178 0
L 603 0
L 603 4863
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-6d" d="M 3328 2828
Q 3544 3216 3844 3400
Q 4144 3584 4550 3584
Q 5097 3584 5394 3201
Q 5691 2819 5691 2113
L 5691 0
L 5113 0
L 5113 2094
Q 5113 2597 4934 2840
Q 4756 3084 4391 3084
Q 3944 3084 3684 2787
Q 3425 2491 3425 1978
L 3425 0
L 2847 0
L 2847 2094
Q 2847 2600 2669 2842
Q 2491 3084 2119 3084
Q 1678 3084 1418 2786
Q 1159 2488 1159 1978
L 1159 0
L 581 0
L 581 3500
L 1159 3500
L 1159 2956
Q 1356 3278 1631 3431
Q 1906 3584 2284 3584
Q 2666 3584 2933 3390
Q 3200 3197 3328 2828
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-6e" d="M 3513 2113
L 3513 0
L 2938 0
L 2938 2094
Q 2938 2591 2744 2837
Q 2550 3084 2163 3084
Q 1697 3084 1428 2787
Q 1159 2491 1159 1978
L 1159 0
L 581 0
L 581 3500
L 1159 3500
L 1159 2956
Q 1366 3272 1645 3428
Q 1925 3584 2291 3584
Q 2894 3584 3203 3211
Q 3513 2838 3513 2113
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-20" transform="scale(0.015625)"/>
<path id="DejaVuSans-66" d="M 2375 4863
L 2375 4384
L 1825 4384
Q 1516 4384 1395 4259
Q 1275 4134 1275 3809
L 1275 3500
L 2222 3500
L 2222 3053
L 1275 3053
L 1275 0
L 697 0
L 697 3053
L 147 3053
L 147 3500
L 697 3500
L 697 3744
Q 697 4328 969 4595
Q 1241 4863 1831 4863
L 2375 4863
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-69" d="M 603 3500
L 1178 3500
L 1178 0
L 603 0
L 603 3500
z
M 603 4863
L 1178 4863
L 1178 4134
L 603 4134
L 603 4863
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-74" d="M 1172 4494
L 1172 3500
L 2356 3500
L 2356 3053
L 1172 3053
L 1172 1153
Q 1172 725 1289 603
Q 1406 481 1766 481
L 2356 481
L 2356 0
L 1766 0
Q 1100 0 847 248
Q 594 497 594 1153
L 594 3053
L 172 3053
L 172 3500
L 594 3500
L 594 4494
L 1172 4494
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-65" d="M 3597 1894
L 3597 1613
L 953 1613
Q 991 1019 1311 708
Q 1631 397 2203 397
Q 2534 397 2845 478
Q 3156 559 3463 722
L 3463 178
Q 3153 47 2828 -22
Q 2503 -91 2169 -91
Q 1331 -91 842 396
Q 353 884 353 1716
Q 353 2575 817 3079
Q 1281 3584 2069 3584
Q 2775 3584 3186 3129
Q 3597 2675 3597 1894
z
M 3022 2063
Q 3016 2534 2758 2815
Q 2500 3097 2075 3097
Q 1594 3097 1305 2825
Q 1016 2553 972 2059
L 3022 2063
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-72" d="M 2631 2963
Q 2534 3019 2420 3045
Q 2306 3072 2169 3072
Q 1681 3072 1420 2755
Q 1159 2438 1159 1844
L 1159 0
L 581 0
L 581 3500
L 1159 3500
L 1159 2956
Q 1341 3275 1631 3429
Q 1922 3584 2338 3584
Q 2397 3584 2469 3576
Q 2541 3569 2628 3553
L 2631 2963
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-3a" d="M 750 794
L 1409 794
L 1409 0
L 750 0
L 750 794
z
M 750 3309
L 1409 3309
L 1409 2516
L 750 2516
L 750 3309
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-6f" d="M 1959 3097
Q 1497 3097 1228 2736
Q 959 2375 959 1747
Q 959 1119 1226 758
Q 1494 397 1959 397
Q 2419 397 2687 759
Q 2956 1122 2956 1747
Q 2956 2369 2687 2733
Q 2419 3097 1959 3097
z
M 1959 3584
Q 2709 3584 3137 3096
Q 3566 2609 3566 1747
Q 3566 888 3137 398
Q 2709 -91 1959 -91
Q 1206 -91 779 398
Q 353 888 353 1747
Q 353 2609 779 3096
Q 1206 3584 1959 3584
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-63" d="M 3122 3366
L 3122 2828
Q 2878 2963 2633 3030
Q 2388 3097 2138 3097
Q 1578 3097 1268 2742
Q 959 2388 959 1747
Q 959 1106 1268 751
Q 1578 397 2138 397
Q 2388 397 2633 464
Q 2878 531 3122 666
L 3122 134
Q 2881 22 2623 -34
Q 2366 -91 2075 -91
Q 1284 -91 818 406
Q 353 903 353 1747
Q 353 2603 823 3093
Q 1294 3584 2113 3584
Q 2378 3584 2631 3529
Q 2884 3475 3122 3366
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-76" d="M 191 3500
L 800 3500
L 1894 563
L 2988 3500
L 3597 3500
L 2284 0
L 1503 0
L 191 3500
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-67" d="M 2906 1791
Q 2906 2416 2648 2759
Q 2391 3103 1925 3103
Q 1463 3103 1205 2759
Q 947 2416 947 1791
Q 947 1169 1205 825
Q 1463 481 1925 481
Q 2391 481 2648 825
Q 2906 1169 2906 1791
z
M 3481 434
Q 3481 -459 3084 -895
Q 2688 -1331 1869 -1331
Q 1566 -1331 1297 -1286
Q 1028 -1241 775 -1147
L 775 -588
Q 1028 -725 1275 -790
Q 1522 -856 1778 -856
Q 2344 -856 2625 -561
Q 2906 -266 2906 331
L 2906 616
Q 2728 306 2450 153
Q 2172 0 1784 0
Q 1141 0 747 490
Q 353 981 353 1791
Q 353 2603 747 3093
Q 1141 3584 1784 3584
Q 2172 3584 2450 3431
Q 2728 3278 2906 2969
L 2906 3500
L 3481 3500
L 3481 434
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-73" d="M 2834 3397
L 2834 2853
Q 2591 2978 2328 3040
Q 2066 3103 1784 3103
Q 1356 3103 1142 2972
Q 928 2841 928 2578
Q 928 2378 1081 2264
Q 1234 2150 1697 2047
L 1894 2003
Q 2506 1872 2764 1633
Q 3022 1394 3022 966
Q 3022 478 2636 193
Q 2250 -91 1575 -91
Q 1294 -91 989 -36
Q 684 19 347 128
L 347 722
Q 666 556 975 473
Q 1284 391 1588 391
Q 1994 391 2212 530
Q 2431 669 2431 922
Q 2431 1156 2273 1281
Q 2116 1406 1581 1522
L 1381 1569
Q 847 1681 609 1914
Q 372 2147 372 2553
Q 372 3047 722 3315
Q 1072 3584 1716 3584
Q 2034 3584 2315 3537
Q 2597 3491 2834 3397
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-78" d="M 3513 3500
L 2247 1797
L 3578 0
L 2900 0
L 1881 1375
L 863 0
L 184 0
L 1544 1831
L 300 3500
L 978 3500
L 1906 2253
L 2834 3500
L 3513 3500
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-70" d="M 1159 525
L 1159 -1331
L 581 -1331
L 581 3500
L 1159 3500
L 1159 2969
Q 1341 3281 1617 3432
Q 1894 3584 2278 3584
Q 2916 3584 3314 3078
Q 3713 2572 3713 1747
Q 3713 922 3314 415
Q 2916 -91 2278 -91
Q 1894 -91 1617 61
Q 1341 213 1159 525
z
M 3116 1747
Q 3116 2381 2855 2742
Q 2594 3103 2138 3103
Q 1681 3103 1420 2742
Q 1159 2381 1159 1747
Q 1159 1113 1420 752
Q 1681 391 2138 391
Q 2594 391 2855 752
Q 3116 1113 3116 1747
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-79" d="M 2059 -325
Q 1816 -950 1584 -1140
Q 1353 -1331 966 -1331
L 506 -1331
L 506 -850
L 844 -850
Q 1081 -850 1212 -737
Q 1344 -625 1503 -206
L 1606 56
L 191 3500
L 800 3500
L 1894 763
L 2988 3500
L 3597 3500
L 2059 -325
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-221e" d="M 2916 1091
Q 2819 1203 2666 1466
Q 2456 1091 2272 925
Q 2041 725 1681 725
Q 1259 725 981 1041
Q 688 1372 688 1919
Q 688 2444 981 2800
Q 1244 3116 1688 3116
Q 1916 3116 2084 3022
Q 2281 2919 2416 2741
Q 2541 2581 2666 2366
Q 2875 2741 3059 2906
Q 3291 3106 3650 3106
Q 4072 3106 4350 2791
Q 4644 2459 4644 1913
Q 4644 1388 4350 1031
Q 4088 716 3644 716
Q 3416 716 3247 809
Q 3078 894 2916 1091
z
M 1647 1134
Q 2163 1134 2472 1884
Q 2075 2703 1647 2703
Q 1334 2703 1175 2478
Q 1003 2238 1003 1919
Q 1003 1569 1175 1353
Q 1350 1134 1647 1134
z
M 3684 2697
Q 3219 2697 2859 1947
Q 3253 1128 3684 1128
Q 3997 1128 4156 1353
Q 4328 1594 4328 1913
Q 4328 2263 4156 2478
Q 3981 2697 3684 2697
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-4b" transform="translate(0 0.015625)"/>
<use xlink:href="#DejaVuSans-61" transform="translate(65.576172 0.015625)"/>
<use xlink:href="#DejaVuSans-6c" transform="translate(126.855469 0.015625)"/>
<use xlink:href="#DejaVuSans-6d" transform="translate(154.638672 0.015625)"/>
<use xlink:href="#DejaVuSans-61" transform="translate(252.050781 0.015625)"/>
<use xlink:href="#DejaVuSans-6e" transform="translate(313.330078 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(376.708984 0.015625)"/>
<use xlink:href="#DejaVuSans-66" transform="translate(408.496094 0.015625)"/>
<use xlink:href="#DejaVuSans-69" transform="translate(443.701172 0.015625)"/>
<use xlink:href="#DejaVuSans-6c" transform="translate(471.484375 0.015625)"/>
<use xlink:href="#DejaVuSans-74" transform="translate(499.267578 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(538.476562 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(600 0.015625)"/>
<use xlink:href="#DejaVuSans-3a" transform="translate(641.113281 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(674.804688 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(706.591797 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(768.115234 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(809.228516 0.015625)"/>
<use xlink:href="#DejaVuSans-6f" transform="translate(850.341797 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(911.523438 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(952.636719 0.015625)"/>
<use xlink:href="#DejaVuSans-63" transform="translate(984.423828 0.015625)"/>
<use xlink:href="#DejaVuSans-6f" transform="translate(1039.404297 0.015625)"/>
<use xlink:href="#DejaVuSans-76" transform="translate(1100.585938 0.015625)"/>
<use xlink:href="#DejaVuSans-61" transform="translate(1159.765625 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(1221.044922 0.015625)"/>
<use xlink:href="#DejaVuSans-69" transform="translate(1262.158203 0.015625)"/>
<use xlink:href="#DejaVuSans-61" transform="translate(1289.941406 0.015625)"/>
<use xlink:href="#DejaVuSans-6e" transform="translate(1351.220703 0.015625)"/>
<use xlink:href="#DejaVuSans-63" transform="translate(1414.599609 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(1469.580078 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(1531.103516 0.015625)"/>
<use xlink:href="#DejaVuSans-63" transform="translate(1562.890625 0.015625)"/>
<use xlink:href="#DejaVuSans-6f" transform="translate(1617.871094 0.015625)"/>
<use xlink:href="#DejaVuSans-6e" transform="translate(1679.052734 0.015625)"/>
<use xlink:href="#DejaVuSans-76" transform="translate(1742.431641 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(1801.611328 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(1863.134766 0.015625)"/>
<use xlink:href="#DejaVuSans-67" transform="translate(1904.248047 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(1967.724609 0.015625)"/>
<use xlink:href="#DejaVuSans-73" transform="translate(2029.248047 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(2081.347656 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(2113.134766 0.015625)"/>
<use xlink:href="#DejaVuSans-78" transform="translate(2174.658203 0.015625)"/>
<use xlink:href="#DejaVuSans-70" transform="translate(2233.837891 0.015625)"/>
<use xlink:href="#DejaVuSans-6f" transform="translate(2297.314453 0.015625)"/>
<use xlink:href="#DejaVuSans-6e" transform="translate(2358.496094 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(2421.875 0.015625)"/>
<use xlink:href="#DejaVuSans-6e" transform="translate(2483.398438 0.015625)"/>
<use xlink:href="#DejaVuSans-74" transform="translate(2546.777344 0.015625)"/>
<use xlink:href="#DejaVuSans-69" transform="translate(2585.986328 0.015625)"/>
<use xlink:href="#DejaVuSans-61" transform="translate(2613.769531 0.015625)"/>
<use xlink:href="#DejaVuSans-6c" transform="translate(2675.048828 0.015625)"/>
<use xlink:href="#DejaVuSans-6c" transform="translate(2702.832031 0.015625)"/>
<use xlink:href="#DejaVuSans-79" transform="translate(2730.615234 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(2789.794922 0.015625)"/>
<use xlink:href="#DejaVuSans-74" transform="translate(2821.582031 0.015625)"/>
<use xlink:href="#DejaVuSans-6f" transform="translate(2860.791016 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(2921.972656 0.015625)"/>
<use xlink:href="#DejaVuSans-Oblique-50" transform="translate(2953.759766 0.015625)"/>
<use xlink:href="#DejaVuSans-221e" transform="translate(3014.0625 -16.390625) scale(0.7)"/>
</g>
</g>
<g id="legend_1">
<g id="patch_5">
<path d="M 287.50875 55.960312
L 427.45875 55.960312
Q 429.25875 55.960312 429.25875 54.160312
L 429.25875 28.62
Q 429.25875 26.82 427.45875 26.82
L 287.50875 26.82
Q 285.70875 26.82 285.70875 28.62
L 285.70875 54.160312
Q 285.70875 55.960312 287.50875 55.960312
z
" style="fill: #ffffff; opacity: 0.8; stroke: #cccccc; stroke-linejoin: miter"/>
</g>
<g id="line2d_16">
<path d="M 289.30875 34.108594
L 298.30875 34.108594
L 307.30875 34.108594
" style="fill: none; stroke: #2e6be5; stroke-width: 2; stroke-linecap: square"/>
</g>
<g id="text_17">
<!-- $P_t$ (error covariance) -->
<g transform="translate(314.50875 37.258594) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-28" d="M 1984 4856
Q 1566 4138 1362 3434
Q 1159 2731 1159 2009
Q 1159 1288 1364 580
Q 1569 -128 1984 -844
L 1484 -844
Q 1016 -109 783 600
Q 550 1309 550 2009
Q 550 2706 781 3412
Q 1013 4119 1484 4856
L 1984 4856
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-29" d="M 513 4856
L 1013 4856
Q 1481 4119 1714 3412
Q 1947 2706 1947 2009
Q 1947 1309 1714 600
Q 1481 -109 1013 -844
L 513 -844
Q 928 -128 1133 580
Q 1338 1288 1338 2009
Q 1338 2731 1133 3434
Q 928 4138 513 4856
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-Oblique-50" transform="translate(0 0.015625)"/>
<use xlink:href="#DejaVuSans-Oblique-74" transform="translate(60.302734 -16.390625) scale(0.7)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(90.483398 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(122.270508 0.015625)"/>
<use xlink:href="#DejaVuSans-28" transform="translate(154.057617 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(193.071289 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(254.594727 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(295.708008 0.015625)"/>
<use xlink:href="#DejaVuSans-6f" transform="translate(336.821289 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(398.00293 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(439.116211 0.015625)"/>
<use xlink:href="#DejaVuSans-63" transform="translate(470.90332 0.015625)"/>
<use xlink:href="#DejaVuSans-6f" transform="translate(525.883789 0.015625)"/>
<use xlink:href="#DejaVuSans-76" transform="translate(587.06543 0.015625)"/>
<use xlink:href="#DejaVuSans-61" transform="translate(646.245117 0.015625)"/>
<use xlink:href="#DejaVuSans-72" transform="translate(707.524414 0.015625)"/>
<use xlink:href="#DejaVuSans-69" transform="translate(748.637695 0.015625)"/>
<use xlink:href="#DejaVuSans-61" transform="translate(776.420898 0.015625)"/>
<use xlink:href="#DejaVuSans-6e" transform="translate(837.700195 0.015625)"/>
<use xlink:href="#DejaVuSans-63" transform="translate(901.079102 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(956.05957 0.015625)"/>
<use xlink:href="#DejaVuSans-29" transform="translate(1017.583008 0.015625)"/>
</g>
</g>
<g id="line2d_17">
<path d="M 289.30875 47.320312
L 298.30875 47.320312
L 307.30875 47.320312
" style="fill: none; stroke-dasharray: 5.92,2.56; stroke-dashoffset: 0; stroke: #e8850a; stroke-width: 1.6"/>
</g>
<g id="text_18">
<!-- $P_\infty \approx 0.17$ (steady-state) -->
<g transform="translate(314.50875 50.470312) scale(0.09 -0.09)">
<defs>
<path id="DejaVuSans-2248" d="M 4684 1947
L 4684 1388
Q 4356 1144 4076 1036
Q 3797 928 3494 928
Q 3150 928 2694 1113
Q 2663 1125 2641 1134
Q 2622 1141 2575 1159
Q 2091 1350 1797 1350
Q 1522 1350 1253 1231
Q 984 1113 678 850
L 678 1409
Q 1006 1653 1286 1761
Q 1566 1869 1869 1869
Q 2213 1869 2672 1684
Q 2706 1669 2722 1663
Q 2741 1656 2788 1638
Q 3272 1447 3566 1447
Q 3834 1447 4098 1564
Q 4363 1681 4684 1947
z
M 4684 3163
L 4684 2606
Q 4356 2359 4076 2251
Q 3797 2144 3494 2144
Q 3150 2144 2694 2328
Q 2663 2341 2641 2350
Q 2622 2356 2575 2375
Q 2091 2566 1797 2566
Q 1522 2566 1253 2447
Q 984 2328 678 2069
L 678 2625
Q 1006 2869 1286 2976
Q 1566 3084 1869 3084
Q 2213 3084 2672 2900
Q 2703 2888 2719 2881
Q 2741 2872 2788 2853
Q 3272 2663 3566 2663
Q 3834 2663 4098 2780
Q 4363 2897 4684 3163
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-37" d="M 525 4666
L 3525 4666
L 3525 4397
L 1831 0
L 1172 0
L 2766 4134
L 525 4134
L 525 4666
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-64" d="M 2906 2969
L 2906 4863
L 3481 4863
L 3481 0
L 2906 0
L 2906 525
Q 2725 213 2448 61
Q 2172 -91 1784 -91
Q 1150 -91 751 415
Q 353 922 353 1747
Q 353 2572 751 3078
Q 1150 3584 1784 3584
Q 2172 3584 2448 3432
Q 2725 3281 2906 2969
z
M 947 1747
Q 947 1113 1208 752
Q 1469 391 1925 391
Q 2381 391 2643 752
Q 2906 1113 2906 1747
Q 2906 2381 2643 2742
Q 2381 3103 1925 3103
Q 1469 3103 1208 2742
Q 947 2381 947 1747
z
" transform="scale(0.015625)"/>
<path id="DejaVuSans-2d" d="M 313 2009
L 1997 2009
L 1997 1497
L 313 1497
L 313 2009
z
" transform="scale(0.015625)"/>
</defs>
<use xlink:href="#DejaVuSans-Oblique-50" transform="translate(0 0.015625)"/>
<use xlink:href="#DejaVuSans-221e" transform="translate(60.302734 -16.390625) scale(0.7)"/>
<use xlink:href="#DejaVuSans-2248" transform="translate(140.830078 0.015625)"/>
<use xlink:href="#DejaVuSans-30" transform="translate(244.101562 0.015625)"/>
<use xlink:href="#DejaVuSans-2e" transform="translate(307.724609 0.015625)"/>
<use xlink:href="#DejaVuSans-31" transform="translate(339.511719 0.015625)"/>
<use xlink:href="#DejaVuSans-37" transform="translate(403.134766 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(466.757812 0.015625)"/>
<use xlink:href="#DejaVuSans-20" transform="translate(498.544922 0.015625)"/>
<use xlink:href="#DejaVuSans-28" transform="translate(530.332031 0.015625)"/>
<use xlink:href="#DejaVuSans-73" transform="translate(569.345703 0.015625)"/>
<use xlink:href="#DejaVuSans-74" transform="translate(621.445312 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(660.654297 0.015625)"/>
<use xlink:href="#DejaVuSans-61" transform="translate(722.177734 0.015625)"/>
<use xlink:href="#DejaVuSans-64" transform="translate(783.457031 0.015625)"/>
<use xlink:href="#DejaVuSans-79" transform="translate(846.933594 0.015625)"/>
<use xlink:href="#DejaVuSans-2d" transform="translate(906.113281 0.015625)"/>
<use xlink:href="#DejaVuSans-73" transform="translate(942.197266 0.015625)"/>
<use xlink:href="#DejaVuSans-74" transform="translate(994.296875 0.015625)"/>
<use xlink:href="#DejaVuSans-61" transform="translate(1033.505859 0.015625)"/>
<use xlink:href="#DejaVuSans-74" transform="translate(1094.785156 0.015625)"/>
<use xlink:href="#DejaVuSans-65" transform="translate(1133.994141 0.015625)"/>
<use xlink:href="#DejaVuSans-29" transform="translate(1195.517578 0.015625)"/>
</g>
</g>
</g>
</g>
</g>
<defs>
<clipPath id="p8f6554bfa8">
<rect x="43.15875" y="22.32" width="390.6" height="194.04"/>
</clipPath>
</defs>
</svg>