function M=re_aim()
T=1;
aim0=[10000 80000 200 300 0]';
A=[1 0 T 0 1/2*T;0 1 0 T 0;0 0 1 0 T;0 0 0 1 0;0 0 0 0 1];
M1=zeros(5,200);
M1(:,1)=aim0;
for j=1:199
    M1(:,j+1)=A*M1(:,j);
end
%obsever is motive the trace is
XB=zeros(5,200);
k=1:50;
XB1=10000+(1/2)*5*k.^2;
XBV1=5*k;
k1=1:100;
XB2=XB1(50)-(1/2)*5*k1.^2+XBV1(50)*k1;
XBV2=XBV1(50)-5*k1;
k2=1:50;
XB3=XB2(100)+XBV2(100)*k2+(1/2)*5*k.^2;%[1 0 k2 0 (1/2)*k2.^2;0 1 0 k2 0;0 0 1 0 k2;0 0 0 1 0;0 0 0 0 1]*[10000 0 0 0 5]';
XBV3=XBV2(100)+5*k2;
TEMP=zeros(1,200);
XB=[XB1 XB2 XB3;TEMP;XBV1 XBV2 XBV3;TEMP;TEMP];
M=zeros(5,200);

M=M1-XB;

figure(5);
plot(M1(1,:),M1(2,:));
hold on;
plot(XB(1,:));
hold on;