Sbar    = [4.057e-03,1.717e-01,0.3,log(.17)]';
P       = zeros(4);
Q       = zeros(4);
P(2,2)  = 9.571e-01;
Q(1,1)  = 6.234e-03;
Q(2,2)  = 1.065e-02;
P0      = (eye(4)-P)*Sbar;
