% seif daled
figure(18);
R_in=0.000001;Teta_in=0;
sim ('exactmodel1_partd_arik',300);
sim ('linear2_arik',300);
plot(tout,r-ro);
hold on;
plot(toutlin,rlin,'r:');
xlabel('Time[sec]');
ylabel('R_d_e_l_t_a');
legend('Exact model','Linear model',0);
title('R_d_e_l_t_a in both models. (R_d_e_l_t_a = 0.000001, Theta_d_e_l_t_a = 0)');
hold off;
figure(19);
plot(tout,theta-wo*tout);
hold on;
plot(toutlin,thetalin,'r:');
xlabel('Time[sec]');
ylabel('Theta_d_e_l_t_a');
legend('Exact model','Linear model',0);
title('Theta_d_e_l_t_a in both models.(R_d_e_l_t_a = 0.000001, Theta_d_e_l_t_a = 0)');
hold off;

figure(20);
R_in=10000;Teta_in=0;
sim ('exactmodel1_partd_arikX',1000);
sim ('linear2_arik',1000);
plot(tout,r-ro);
hold on;
plot(toutlin,rlin,'r:');
xlabel('Time[sec]');
ylabel('R_d_e_l_t_a');
legend('Exact model','Linear model',0);
title('R_d_e_l_t_a in both models. (R_d_e_l_t_a = 10000, Theta_d_e_l_t_a = 0)');
hold off;
figure(21);
plot(tout,theta-wo*tout);
hold on;
plot(toutlin,thetalin,'r:');
xlabel('Time[sec]');
ylabel('Theta_d_e_l_t_a');
legend('Exact model','Linear model',0);
title('Theta_d_e_l_t_a in both models.(R_d_e_l_t_a = 10000, Theta_d_e_l_t_a = 0)');
hold off;
