help KALMAN Filter base on ARM LPC200 code

please help me some doc about Kalman filter theory, and the C code for LPC2000
thank

source code for matlab

http://academic.csuohio.edu/simond/estimation/MotorKalman.m

short theory

http://academic.csuohio.edu/simond/courses/eec644/kalman.pdf

thanks, but I can't access that site.Could you please give me Kalman.pdf and matlab file

Look here : http://unjobs.org/authors/kalman