Matlab Inverted pendulum Modelling

I have modelled an inverted pendulum system using matlab to obtain the feedback gain values. This modelling is attached in the m-file named ssstanding. I then implemented the system on a real inverted pendulum and found I need to use 10th order filters to reduce noise on the feedback into the system. Filters of this size will add unknown gains to the system and hance the system now needs to be modelled again with the filters included. To simplify the same 10th order filter which can be found in the included m-file named filter_j10, has been used on all 4 input into the system.