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f(u)-xddot iin=

(1/M)*( u(1) - u(2) - b*u(3) )


f(u)thetaddot iin=
(1/l)*( -u(1)*l*cos(u(3)) - u(2)*l*sin(u(3)) )

f(u)N iin=
m*( u(1) - l*sin(u(2))*(u(3)^2) + l*cos(u(2))*u(4)
f(u)P iin=
m*( l*cos(u(1))*(u(2)^2) + l*sin(u(1))*u(3) + g )

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