clear
tspan=[0 5];
x0=[2 0 0]';
[t,x]=ode23('onelink',tspan,x0);
plot(t,x(:,1));
set(gca,'Fontsize',12)
xlabel('Time (sec)','Fontsize',12);ylabel('{\it x}_1 (rad)','Fontsize',12)
title('One-link robot driven by the linearizing state-feedback controller','Fontsize',12)
grid
hold
x0=[1 0 0]';
[t,x]=ode23('onelink',tspan,x0);
plot(t,x(:,1));
x0=[0.5 0 0]';
[t,x]=ode23('onelink',tspan,x0);
plot(t,x(:,1));
hold


