'Is there a package for Kalman Filter with control variable?

Please, Help :( . I am facing a problem with Kalman filtering. I am not possible to find some package in R with state equation containing Control Input (x_k=Fx_{k-1}+Gu_{k-1}+q_{k-1}). Does anybody know some package?

rpackagefilteringkalman-filterdlm


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