function Ju_hat = EstJu(JacAx,JacBu,JacJx,JacJu,x_hat,uEKF)
% Written by Krishnamoorthy, Oct 2018.
% email - dineshk@ntnu.no

A = full(JacAx(x_hat,uEKF));
B = full(JacBu(x_hat,uEKF));
C = full(JacJx(x_hat,uEKF));
D = full(JacJu(x_hat,uEKF));
Ju_hat = -C*(A\B) + D;

end