the filter well let's take a look here's some MATLAB code wrote awhile back and ran this experiment and so what we have here is a plot we just did 20 time steps we see in solid line the state or a two state very both losing one state variable shown in blue once the rebels shown in green two-dimensional space and we see the state the greens variable starts at the top there blue starts at the bottom here then we can look at the smoother in dotted and the filter in dashed we look at the estimates for example early on