m = 4;
P1 = [ -0.7430   -0.2438   -0.6233   20.0000; ...
        0.1724   -0.9696    0.1737  -10.0000; ...
       -0.6467    0.0216    0.7625    2.0000];
P2 = [ -0.9247    0.2152   -0.3140  -10.0000; ...
        0.3105    0.9037   -0.2948   10.0000; ...
        0.2204   -0.3701   -0.9025    3.0000];
P3 = [ -0.6026   -0.3108   -0.7350    4.0000; ...
       -0.5440   -0.5139    0.6633    8.0000; ...
       -0.5839    0.7995    0.1406    1.5000]; 
P4 = [ -0.6700    0.0028   -0.7424  -10.0000; ...
       -0.6916    0.3612    0.6255    4.0000; ...
        0.2699    0.9325   -0.2400    4.0000];
rho = 0.1*ones(4,1);
vhat = [ 9.9100   -2.7400    2.2200   -2.1200; ...
        -5.0000    3.1400    3.6000    1.0300];