def state_space_model(A, z_t_minus_1, B, u_t_minus_1):
    """
    Calculates the state at time t given the state at time t-1 and
    the control inputs applied at time t-1
    """
    state_estimate_t = (A @ z_t_minus_1) + (B @ u_t_minus_1)
    return state_estimate_t