Algorithm	EKPF		SEKPF	SLEKPF
Root-mean-squareerrors of X1	Mean	0.035	0.008	0.016
Root-mean-squareerrors of X1	Variance	0.142	0.005	0.072
Root-mean-square error of X2	Mean	0.064	0.062	0.063
Root-mean-square error of X2	Variance	0.005	0.001	0.001
Running time (s)		2.87	2.98	3.05