Sbar    = [5.155e-03,2.432e-01,0.3,log(.17)]';
P       = zeros(4);
Q       = zeros(4);
P(2,2)  = 9.523e-01;
Q(1,1)  = 1.306e-02;
Q(2,2)  = 1.361e-02;
P0      = (eye(4)-P)*Sbar;


