function Ju_hat = EstJu(JacAx,JacBu,JacJx,JacJu,x_hat,uEKF,d_hat)

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

end