function xdot=one_com(t,x)
u=-7*x(4)-4.15*x(5)-0.25*x(6)-.98*x(5)*cos(x(4))-12.25*sin(x(4));
xdot=[x(2);9.8*sin(x(1))+x(3);-10*x(2)-10*x(3)+10*u;x(5)-20*(x(4)-x(1));
      x(6)+9.8*sin(x(1))-89*(x(4)-x(1));-10*x(5)-10*x(6)-100*(x(4)-x(1))+10*u];