function xu = predictstates(x,t,Q);% PURPOSE : Performs the prediction step of the sequential SIR algorithm for %         : the model described in the file sirdemo1.m.% INPUTS  : - x = The state samples.%           - t = The current time step.%           - Q = The variance of the process noise.% OUTPUTS : - xu = The state samples after the prediction step.% AUTHOR  : Nando de Freitas - Thanks for the acknowledgement :-)% DATE    : 08-09-98if nargin < 3, error('Not enough input arguments.'); endw = sqrt(Q)*randn(size(x));xu = 0.5.*x + 25.*x./(1+x.^(2)) + 8*cos(1.2*(t)).*ones(size(x)) + w;