clear; close all; f = @(x) [x(:,1).*cos(x(:,2)), x(:,1).*sin(x(:,2))]; F = @(x) [cos(x(2)), -x(1)*sin(x(2)); sin(x(2)), x(1)*cos(x(2))]; n = 2; mu = [10, pi/2]; sigma = [50 1; 1 0.025]; N = 500; x = mvnrnd(mu,sigma,N); y = f(x); ylin = one…