% farc1_plot.m

figure(1);

subplot(2,1,1);
plot(x1(:,1),x1(:,2),'k:',x1(:,1),x1(:,3),'k')
axis([0 20 -1.6 1.6])
legend('x_d','x');
ylabel('x_d, x   (rad)')
xlabel('Time (sec)');

subplot(2,1,2);
plot(error1(:,1),error1(:,2),'k')
axis([0 20 -.002 .002])
%legend('e_F_A_R_C','e_A_F_C');
%title('Tracking errors');
ylabel('e  (rad)')
xlabel('Time (sec)');


figure(2);

subplot(2,1,1);
plot(u1(:,1),u1(:,2),'k')
axis([0 20 -15 15]);
ylabel('u');
xlabel('Time (sec)');

subplot(2,1,2);
plot(thetaf1(:,1),thetaf1(:,2:13),'k-');
axis([0 20 -200 200]);
ylabel('\theta_f')
xlabel('Time (sec)');



