diff --git a/kalman/kf.cpp b/kalman/kf.cpp
index 9d722cc..a3b787b 100644
--- a/kalman/kf.cpp
+++ b/kalman/kf.cpp
@@ -127,5 +127,6 @@ colvec* KF::GetCurrentEstimatedOutput()
     return &z_m_;
 }
 
-
-
+colvec KF::PredictState() const {
+    return A_ * x_m_;
+}
diff --git a/kalman/kf.h b/kalman/kf.h
index 7cee4ca..4097106 100644
--- a/kalman/kf.h
+++ b/kalman/kf.h
@@ -117,7 +117,13 @@ class KF {
   * @return Current estimated output $\hat{z}_k$
   */
   colvec* GetCurrentEstimatedOutput();
-  
+
+  /**
+   * predicts the next state of the system
+   * @return The predicted state vector
+   */
+  colvec PredictState() const;
+
 private:
   
   mat A_;      ///< System matrix
@@ -141,6 +147,7 @@ class KF {
   mat P_m_;    ///< State covariance after measurement update
   
   colvec z_m_; ///< Estimated output
+
 };
 
 #endif