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t=[0:0.1:60];
N=length(y);
 for i=1:4;
clear ftk ;clear f;
for k=i+1:N
f(:,k)=[-y((k-1):-1:(k-i));u((k-1):-1:(k-i))];
end
ftk=f';
clear F;clear Y;
 for k=i+1:N
F(k-1,:)=[ftk(k,:)];
Y(k-1,:)=[y(k)];
end
subplot(2,2,i)
%plot(t,y,t,u)
stem(F)
end