diff --git a/matlab/scripts/Inertial Nav EKF/test_output_filter_gains.m b/matlab/scripts/Inertial Nav EKF/test_output_filter_gains.m
new file mode 100644
index 0000000000..40e654e9c7
--- /dev/null
+++ b/matlab/scripts/Inertial Nav EKF/test_output_filter_gains.m	
@@ -0,0 +1,35 @@
+% script to test complementary output filter gain structure
+vel_state = 0.0;
+pos_state = 1.0;
+vel_demand = 0.0;
+pos_demand = 0.0;
+dt = 0.01;
+buffer_delay = 30;
+vel_state_history = zeros(1,10000);
+pos_state_history = zeros(1,10000);
+time = [0:dt:9999*dt];
+vel_correction = 0;
+pos_correction = 0;
+omega = 1.0/(dt*buffer_delay);
+prev_vel = 1.0;
+for i=1:10000
+    prev_vel = vel_state;
+    vel_state = vel_state + vel_correction*dt;
+    vel_state_history(i) = vel_state;
+    pos_state = pos_state + 0.5*dt*(vel_state + prev_vel) + pos_correction*dt;
+    pos_state_history(i) = pos_state;
+    if i > buffer_delay
+        vel_correction = (vel_demand - vel_state_history(i-buffer_delay))*omega*0.5;
+        pos_correction = (pos_demand - pos_state_history(i-buffer_delay))*omega*0.6;
+    else
+        vel_correction = 0;
+        pos_correction = 0;
+    end
+end
+min(vel_state_history)
+close all;
+figure;
+subplot(2,1,1)
+plot(time,vel_state_history);
+subplot(2,1,2);
+plot(time,pos_state_history);
\ No newline at end of file