%%% point de fonctionnement%%%%%%
x10=1451;x20=1814;M0=0.6;
%%%paramtres du systèmes %%%%%%%%%%%%%%%%%%%%%%
r1=0.0995;r2=0.099;L=0.37;phi=65.61*pi/180;
d1=1.2e-4;d2=2.25e-4;
M10=0.003;M20=0.093;Mg=19.6181;
J1=7.5281e-3;J2=25.603e-3;
b1=15.24;b2=-6.21;
a=0.00025724985785 ;
p=2.09945271667129 ;
w1=-0.04240011450454;
w2=0.00000000029375;
w3=0.03508217905067;
w4=0.40662691102315;
tau=0.048;
c31=1/tau;
c11 = r1*d1/J1 ;
c12 = (M10+Mg)*r1/J1 ;
c13 = -d1/J1 ;
c14 = -M10/J1 ;
c15 = r1/J1 ;
c16 = -1/J1 ;
c21 = -r2*d1/J2 ;
c22 = -(M10+Mg)*r2/J2 ;
c23 = -d2/J2 ;
c24 = -M20/J2 ;
c25 = -r2/J2 ;
M0=0.6;
u0=(M0-b2)/b1;
%%%%%le système%%%%
lam=(r2*x2-r1*x1)/(r2*x2);
mu=((w4*lam^p)/(a+lam^p))+w3*lam^3+w2*lam^2+w1*lam;
S=mu/(L*(sin(phi)-mu*cos(phi)));
F1=S*(c11*x1+c12)+c13*x1+c15*S+c16*x3+c14;
F2=S*(c21*x1+c22)+c23*x2+c25*S*x3+c24;
F3=-c31*x3+c31*b1*u0+c31*b2;
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