I need help on Kalman filter generated from state space matrices (A, B,C,D). How can I generate my output using lsim?

This is how I generated my matrices below

load('linsys.mat');

A = linsys1.A;

B = linsys1.B;

C = linsys1.C;

D = linsys1.D;

Plant = ss(A,B,C,D);

I then use..

Q = 1;

R = 1;

[kalmf,L,P] = kalman(Plant,Q,R)

I don't know know how to proceed from here.

[Awak Mathok]

when I use this out = lsim(SimModel,[u,w,v]); functions it tells me u is not define. u is my input in the model attached

[Awak Mathok]

i followed this technique...Kalman Filtering - MATLAB & Simulink - MathWorks Australia. I just need to know what I am doing wrong and maybe give me some directions and should work my way out from there.