function [T] = plots_TC04a_oem_hfb(T, Z, Y, Uinp, params, par_std, iter);

% Time history plots of measured and estimated responses and parameter convergence
% test_case = 4 -- Longitudinal motion: HFB-320 Aircraft
% Nonlinear model in terms of non-dimensional derivatives as function of
% variables in the stability axes (V, alfa)   
%                  states  - V, alpha, theta, q
%                  outputs - V, alpha, theta, q, qdot, ax, az
%                  inputs  - de, thrust  
%                  parameters - CD0, CDV, CDAL, CL0, CLV, CLAL, CM0, CMV, CMAL, CMQ, CMDE
%                               f11, f22, f33, f44 (diagonal elements of process noise matrix)

% Conversion factor radians to degrees
r2d = 180/pi;

%Plot time histories of measured and estimated observation variables
figure(1)
subplot(511),plot(T,Z(:,1), T,Y(:,1),'r'); grid; ylabel('U (m/s)');
title('Time histories of output variables (measured and estimated); input variables')
subplot(512),plot(T,Z(:,2)*r2d, T,Y(:,2)*r2d,'r');  grid; ylabel('\alpha (deg)');
subplot(513),plot(T,Z(:,3)*r2d, T,Y(:,3)*r2d,'r');  grid; ylabel('\theta (deg)');
subplot(514),plot(T,Z(:,4)*r2d, T,Y(:,4)*r2d,'r');  grid; ylabel('q (deg/s)');

%subplot(815),plot(T,Z(:,5)*r2d, T,Y(:,5)*r2d,'r'); grid; ylabel('qp (deg/s2)');
%subplot(816),plot(T,Z(:,6), T,Y(:,6),'r');         grid; ylabel('ax (m/s2)');
%subplot(817),plot(T,Z(:,7), T,Y(:,7),'r');         grid; ylabel('az (m/s2)');

subplot(515),plot(T,(Uinp(:,1)-3207)/1600*r2d);                 grid; ylabel('{\delta_e} (deg)');
xlabel('Time in sec');  

% Convergence plot: estimated parameter +- standard deviations versus iteration count
if  iter > 0, 
    iterations = [0:iter];
    figure(2); zoom;
    subplot(5,3, 1);errorbar(iterations, params(1,:),par_std(1,:));ylabel('Xu');           xlabel('iteration #');grid
    title('Convergence of parameter estimates with error bounds')
    subplot(5,3, 4);errorbar(iterations, params(2,:),par_std(2,:));ylabel('X{\alpha}');    xlabel('iteration #');grid
    subplot(5,3,13);errorbar(iterations, params(3,:),par_std(3,:));ylabel('X{\delta}t');   xlabel('iteration #');grid
    
    subplot(5,3, 2);errorbar(iterations, params(4,:),par_std(4,:));ylabel('Zu');           xlabel('iteration #');grid
    subplot(5,3, 5);errorbar(iterations, params(5,:),par_std(5,:));ylabel('Z{\alpha}');    xlabel('iteration #');grid
    subplot(5,3, 8);errorbar(iterations, params(6,:),par_std(6,:));ylabel('Zq');           xlabel('iteration #');grid
    subplot(5,3,11);errorbar(iterations, params(7,:),par_std(7,:));ylabel('Z{\delta}e');   xlabel('iteration #');grid
    subplot(5,3,14);errorbar(iterations, params(8,:),par_std(8,:));ylabel('Z{\delta}t');   xlabel('iteration #');grid
    
    subplot(5,3, 3);errorbar(iterations, params( 9,:),par_std( 9,:));ylabel('Mu');         xlabel('iteration #');grid
    subplot(5,3, 6);errorbar(iterations, params(10,:),par_std(10,:));ylabel('M{\alpha}');  xlabel('iteration #');grid
    subplot(5,3, 9);errorbar(iterations, params(11,:),par_std(11,:));ylabel('Mq');         xlabel('iteration #');grid
    subplot(5,3,12);errorbar(iterations, params(12,:),par_std(12,:));ylabel('M{\delta}e'); xlabel('iteration #');grid
    subplot(5,3,15);errorbar(iterations, params(13,:),par_std(13,:));ylabel('M{\delta}t'); xlabel('iteration #');grid
end