function cons_plot(r)
	T = r.T;
	
	figure; 
	num_fig = 3; fig = 1;

	subplot(num_fig,1,fig); fig=fig+1; hold on;
	plot(r.x','b-');
	plot([0 T],[r.goal r.goal],'r-');
	a = axis; axis([0 T a(3) a(4)]);
	

	if false
		subplot(num_fig,1,fig); fig=fig+1; hold on;
		plot(log_or_small(r.mse));
		legend('mse = (1/n) sum [x(i) - goal]^2 ');
		title('log MSE');	
		axis([0 T -20 10]);
	end

	sv = svd(r.A);
	s_max_A = sv(1);
	e = eig(r.L); l_n = e(r.n); l_2 = e(2);
	bound = (r.epsilon)^2 * ( (r.n)^2 / 4 ) * s_max_A^2 * l_n * ( 1 + (l_n/l_2) + (l_n/l_2)^2 );


	s = svd(r.A * r.L * r.A);
	part1 = (r.epsilon)^2 * ( (r.n) / 4 ) * s(1);
	part2 = (r.epsilon)^2 * ( (r.n) / 4 ) *  s_max_A^2 * l_n^2 / l_2;
	part3 = (r.epsilon)^2 * ( (r.n) / 4 ) *  s_max_A^2 * l_n^3 / l_2^2;
	bound2 =   part1 + part2 + part3;

	part2b = (r.epsilon)^3 * ( (r.n)^2 / 4 ) *  s_max_A^2 * l_n / l_2;
	part2c = (r.epsilon)^3 * ( (r.n)^2 / 4 ) *  s_max_A^2 * l_n^2 / l_2^2;
	
	
	bound ;
	bound2;
	disag = r.disagreement(T);



	subplot(num_fig,1,fig); fig=fig+1; hold on;

	if false
		lb = log(bound);
		plot([0 T], [lb lb], 'r--');

		lb2 = log(bound2);
		plot([0 T], [lb2 lb2], 'b--');

		lb2 = log(r.epsilon);
			plot([0 T], [lb2 lb2], 'k-');
	end

	plot(log_or_small(r.disagreement));
%	legend('log xLx');
	title('Disagreement');
	axis([0 T -20 20]);



	subplot(num_fig,1,fig); fig=fig+1; hold on;
	plot(r.drift);
%	legend('drift');
	title('Drift');	
	a = axis; axis([0 T a(3) a(4)]);	

function r = log_or_small(k)
	for i=1:numel(k)
		r(i) = log(max(k(i),0.0000000001));
	end