function xdot=onelink(t,x)
u=-.98*x(2)*cos(x(1))-12.25*sin(x(1))-7*x(1)-4.15*x(2)-0.25*x(3);
xdot=[x(2);9.8*sin(x(1))+x(3);-10*x(2)-10*x(3)+10*u];