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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
clear q1;clear q;
q1=inv(F'*F)*F';
q=q1*Y;
J(i)=0;
for k=i+1:N
 J(i)=J(i)+(y(k)-ftk(k,:)*q)^2;
 J(i)=J(i)/N;
end
stem(J)
grid on;
hold on;
end