diff --git a/mex/sources/kalman/matlab/Makefile b/mex/sources/kalman/matlab/Makefile
index 7a384fceb..5ca5e3e6f 100644
--- a/mex/sources/kalman/matlab/Makefile
+++ b/mex/sources/kalman/matlab/Makefile
@@ -1,83 +1,91 @@
-# $Id: Makefile 531 2005-11-30 13:49:48Z kamenik $
-# Copyright 2005, Ondra Kamenik
-
-DEBUG = yes
-
-LD_LIBS := -llapack -lcblas -lf77blas -latlas -lg2c
-CC_FLAGS :=  -DMATLAB -DWINDOWS  -DNO_BLAS_H -DNO_LAPACK_H \
-	-Wall -I../../gensylv/cc -I../cc \
-	-Ic:/"Program Files"/MATLAB_SV71/extern/include 
-
-ifeq ($(DEBUG),yes)
-	CC_FLAGS := -DDEBUG $(CC_FLAGS) -g
-else
-	CC_FLAGS := $(CC_FLAGS) -O2
-endif
-
-# Added by GP
-#    LDFLAGS := -llapack -lcblas -lf77blas -latlas -lg2c -lstdc++ -lmingw32
-        LDFLAGS := -Wl,--library-path $(LD_LIBRARY_PATH) \
-             -Wl,-L'f:/MinGW/lib' \
-        -Wl,-L"c:/Program Files"/MATLAB_SV71/extern/lib/win32/microsoft/ \
-        -Wl,-llibmex -Wl,-llibmx  -Wl,-llibmwlapack -Wl,-llibdflapack \
-        -lg2c -lmingw32  -lstdc++ $(LDFLAGS)
-
-#                  -Wl,-L'f:/CygWin/usr/local/atlas/lib' \
-#                  -Wl,-L'f:/CygWin/lib' \
-#                 $(LDFLAGS)
-    LD_LIBS :=$(LDFLAGS)
-# end add
-
-matrix_interface := GeneralMatrix Vector SylvException 
-matobjs := $(patsubst %, ../../gensylv/cc/%.o, $(matrix_interface))
-mathsource := $(patsubst %,  ../../gensylv/cc/%.h, $(matrix_interface))
-matcppsource := $(patsubst %,  ../../gensylv/cc/%.cpp, $(matrix_interface))
-# cppsource := $(patsubst %.cweb,%.cpp,$(cwebsource)) 
-kalmancppsource := $(wildcard ../cc/*.cpp)
-kalmanhsource := $(wildcard ../cc/*.h)
-kalmanobjects := $(patsubst %.cpp,%.o,$(kalmancppsource))
-cppsource := $(wildcard *.cpp)
-hsource := $(wildcard *.h)
-objects := $(patsubst %.cpp,%.o,$(cppsource))
-hwebsource := $(wildcard *.hweb)
-cwebsource := $(wildcard *.cweb)
-
-dummy.ch:
-	touch dummy.ch
-
-# %.cpp: %.cweb dummy.ch
-# 	ctangle -bhp $*.cweb dummy.ch $*.cpp
-
-# %.h: %.hweb dummy.ch
-# 	ctangle -bhp $*.hweb dummy.ch $*.h
-
-#%.o: %.cpp $(hsource) $(cppsource) #$(kalmanhsource) $(mathsource)
-
-%.o: %.cpp $(hsource) $(cppsource)
-	c++ $(CC_FLAGS) -c $*.cpp
-
-
-kalmanlib.a: $(objects) #$(kalmanobjects) $(matobjs) 
-	ar cr kalmanlib.a $(objects) $(kalmanobjects) $(matobjs) 
-	ranlib kalmanlib.a
-
-kalman_smoother_dll.dll: kalman_smoother.o kalmanlib.a #$(hsource) $(cppsource) 
-	gcc -shared $(CC_FLAGS) -o kalman_smoother_dll.dll kalman_smoother.o \
-	kalmanlib.a $(LD_LIBS) 
-
-kalman_filter_dll.dll: kalman_filters.o kalmanlib.a # $(hsource) $(cppsource) 
-	gcc -shared $(CC_FLAGS) -o kalman_filter_dll.dll kalman_filters.o \
-	kalmanlib.a $(LD_LIBS) 
-
-all: $(objects) kalmanlib.a kalman_smoother_dll.dll kalman_filter_dll.dll # $(cppsource) $(hsource) $(kalmanhsource) $(kalmancppsource)
-
-doc: main.web $(hwebsource) $(cwebsource)
-	cweave -bhp main.web
-	pdftex main
-	mv main.pdf ts.pdf 
-
-clear:
-	rm -f *.o
-	rm -f *.{pdf,dvi,log,scn,idx,toc}
-#	rm -f *.cpp
-#	rm -f *.h
+# $Id: Makefile 531 2005-11-30 13:49:48Z kamenik $
+# Copyright 2005, Ondra Kamenik
+
+#DEBUG = yes
+
+LD_LIBS := -llapack -lcblas -lf77blas -latlas -lg2c
+CC_FLAGS :=  -DMATLAB -DWINDOWS  -DNO_BLAS_H -DNO_LAPACK_H \
+	-Wall -I../../gensylv/cc -I../cc \
+	-Ic:/"Program Files"/MATLAB_SV71/extern/include 
+
+ifeq ($(DEBUG),yes)
+	CC_FLAGS := -DDEBUG $(CC_FLAGS) -g
+else
+	CC_FLAGS := $(CC_FLAGS) -O2
+#	CC_FLAGS := -DTIMING_LOOP $(CC_FLAGS) -O2
+endif
+
+# Added by GP
+#    LDFLAGS := -llapack -lcblas -lf77blas -latlas -lg2c -lstdc++ -lmingw32
+        LDFLAGS := -Wl,--library-path $(LD_LIBRARY_PATH) \
+             -Wl,-L'f:/MinGW/lib' \
+        -Wl,-L"c:/Program Files"/MATLAB_SV71/extern/lib/win32/microsoft/ \
+        -Wl,-llibmex -Wl,-llibmx  -Wl,-llibmwlapack -Wl,-llibdflapack \
+        -lg2c -lmingw32  -lstdc++ $(LDFLAGS)
+
+#                  -Wl,-L'f:/CygWin/usr/local/atlas/lib' \
+#                  -Wl,-L'f:/CygWin/lib' \
+#                 $(LDFLAGS)
+    LD_LIBS :=$(LDFLAGS)
+# end add
+
+matrix_interface := GeneralMatrix Vector SylvException 
+matobjs := $(patsubst %, ../../gensylv/cc/%.o, $(matrix_interface))
+mathsource := $(patsubst %,  ../../gensylv/cc/%.h, $(matrix_interface))
+matcppsource := $(patsubst %,  ../../gensylv/cc/%.cpp, $(matrix_interface))
+# cppsource := $(patsubst %.cweb,%.cpp,$(cwebsource)) 
+kalmancppsource := $(wildcard ../cc/*.cpp)
+kalmanhsource := $(wildcard ../cc/*.h)
+kalmanobjects := $(patsubst %.cpp,%.o,$(kalmancppsource))
+cppsource := $(wildcard *.cpp)
+hsource := $(wildcard *.h)
+objects := $(patsubst %.cpp,%.o,$(cppsource))
+hwebsource := $(wildcard *.hweb)
+cwebsource := $(wildcard *.cweb)
+
+dummy.ch:
+	touch dummy.ch
+
+# %.cpp: %.cweb dummy.ch
+# 	ctangle -bhp $*.cweb dummy.ch $*.cpp
+
+# %.h: %.hweb dummy.ch
+# 	ctangle -bhp $*.hweb dummy.ch $*.h
+
+#%.o: %.cpp $(hsource) $(cppsource) #$(kalmanhsource) $(mathsource)
+
+%.o: %.cpp $(hsource) $(cppsource)
+	c++ $(CC_FLAGS) -c $*.cpp
+
+
+kalmanlib.a: $(objects) # $(matobjs) #$(kalmanobjects)
+	ar cr kalmanlib.a $(kalmanobjects) $(matobjs) # $(objects)  
+	ranlib kalmanlib.a
+
+kalman_smoother_dll.dll: kalman_smoother.o kalmanlib.a #$(hsource) $(cppsource) 
+	gcc -shared $(CC_FLAGS) -o kalman_smoother_dll.dll kalman_smoother.o \
+	kalmanlib.a $(LD_LIBS) 
+
+kalman_filter_dll.dll: kalman_filters.o kalmanlib.a # $(hsource) $(cppsource) 
+	gcc -shared $(CC_FLAGS) -o kalman_filter_dll.dll kalman_filters.o \
+	kalmanlib.a $(LD_LIBS) 
+
+all: $(objects) kalmanlib.a kalman_smoother_dll.dll kalman_filter_dll.dll # $(cppsource) $(hsource) $(kalmanhsource) $(kalmancppsource)
+
+kalman_filter_loop.o: kalman_filters.cpp
+    c++ -DTIMING_LOOP $(CC_FLAGS) -o kalman_filter_loop.o kalman_filters.cpp
+
+#kalman_filter_loop.dll: kalman_filter_loop.o kalmanlib.a # $(hsource) $(cppsource) 
+#    gcc -shared -DTIMING_LOOP $(CC_FLAGS) -o kalman_filter_loop.dll kalman_filter_loop.o \
+#    kalmanlib.a $(LD_LIBS) 
+
+doc: main.web $(hwebsource) $(cwebsource)
+	cweave -bhp main.web
+	pdftex main
+	mv main.pdf ts.pdf 
+
+clear:
+	rm -f *.o
+	rm -f *.{pdf,dvi,log,scn,idx,toc}
+#	rm -f *.cpp
+#	rm -f *.h
diff --git a/mex/sources/kalman/matlab/kalman_filters.cpp b/mex/sources/kalman/matlab/kalman_filters.cpp
index 5a6016901..9dc6ae371 100644
--- a/mex/sources/kalman/matlab/kalman_filters.cpp
+++ b/mex/sources/kalman/matlab/kalman_filters.cpp
@@ -71,7 +71,8 @@
 extern "C" {
   void mexFunction(int nlhs, mxArray* plhs[],
     int nrhs, const mxArray* prhs[])
-    {
+    {
+
     if (nrhs < 9 || nrhs > 11)
       mexErrMsgTxt("Must have  9, 10 or 11 input parameters.\n");
     if (nlhs < 1 || nlhs > 4)
@@ -123,6 +124,10 @@ extern "C" {
         init = new StateInit(P, a.getData());
         }
       // fork, create objects and do filtering
+#ifdef TIMING_LOOP
+  for (int tt=0;tt<10000;++tt)
+    {
+#endif
       KalmanTask kt(Y, Z, H, T, R, Q, *init);
       if (uni) 
         {
@@ -135,6 +140,10 @@ extern "C" {
         {
         loglik = kt.filter(per, d, (start-1), vll);
         }
+#ifdef TIMING_LOOP
+    }
+    //mexPrintf("kalman_filter: finished 10,000 loops");
+#endif
         // destroy init
       delete init;
       
@@ -160,12 +169,17 @@ extern "C" {
           mxll[j]=(*vll)[j];
         }
       
-      } catch (const TSException& e) {
+      } 
+    catch (const TSException& e) 
+      {
       mexErrMsgTxt(e.getMessage());
-        } catch (SylvException& e) {
-        char mes[300];
-        e.printMessage(mes, 299);
-        mexErrMsgTxt(mes);
-          }
-    }
-  };
+      } 
+    catch (SylvException& e) 
+      {
+      char mes[300];
+      e.printMessage(mes, 299);
+      mexErrMsgTxt(mes);
+      }
+
+    } // mexFunction
+  }; // extern 'C'