clear
tspan=[0 10];
x0=[.2 0 0]';
[t,x]=ode45('one_robo',tspan,x0);
plot(t,x(:,1));
set(gca,'Fontsize',12)
xlabel('Time (sec)','Fontsize',12);ylabel('{\it x}_1 (rad)','Fontsize',12)
title('Uncontrolled one-link robot of Example 7.1','Fontsize',12)
grid
hold
x0=[-.05 0 0]';
[t,x]=ode45('one_robo',tspan,x0);
plot(t,x(:,1));
x0=[0.5 0 0]';
[t,x]=ode45('one_robo',tspan,x0);
plot(t,x(:,1));
hold


