codice:
function f=fun(x,t)
% x: Vettore delle variabili
% f: Vettore dei residui
f(1)= 1.993*cos(x(1))+0.437*cos(x(2))+2.019*cos(x(3))+0.227*cos(0.8203);
f(2)= 1.993*sin(x(1))+0.437*sin(x(2))+2.019*sin(x(3))+0.227*sin(0.8203);
f(3)= (1.797+0.1*sin(2*pi*t/6))*cos(x(4))+0.584*cos(x(2)+0.3665)+2.019*cos(x(3))+0.908*cos(4.1713);
f(4)= (1.797+0.1*sin(2*pi*t/6))*sin(x(4))+0.584*sin(x(2)+0.3665)+2.019*sin(x(3))+0.908*sin(4.1713);
f(5)= 2.809*cos(x(1)+0.0873)+0.769*cos(x(5))+(1.54+0.1*sin(2*pi*t/6))*cos(x(6))+0.732*cos(x(1)-2.6878);
f(6)= 2.809*sin(x(1)+0.0873)+0.769*sin(x(5))+(1.54+0.1*sin(2*pi*t/6))*sin(x(6))+0.732*sin(x(1)-2.6878);
f(7)= 2.809*cos(x(1)+0.0873)-1.993*cos(x(1))-0.424*cos(x(2)+2.2340)+1.888*cos(x(5)-0.1571)+0.529*cos(x(7))+(1.907+0.1*sin(2*pi*t/6))*cos(x(8));
f(8)= 2.809*sin(x(1)+0.0873)-1.993*sin(x(1))-0.424*sin(x(2)+2.2340)+1.888*sin(x(5)-0.1571)+0.529*sin(x(7))+(1.907+0.1*sin(2*pi*t/6))*sin(x(8));
% Forma il vettore colonna
f=[f(1);f(2);f(3);f(4);f(5);f(6);f(7);f(8)];
return
end
function J=jac(x,t)
J(1,1)=-1.993*sin(x(1));
J(1,2)=-0.437*sin(x(2));
J(1,3)=-2.019*sin(x(3));
J(1,4)=0;
J(1,5)=0;
J(1,6)=0;
J(1,7)=0;
J(1,8)=0;
J(2,1)=1.993*cos(x(1));
J(2,2)=0.437*cos(x(2));
J(2,3)=2.019*cos(x(3));
J(2,4)=0;
J(2,5)=0;
J(2,6)=0;
J(2,7)=0;
J(2,8)=0;
J(3,1)=0;
J(3,2)=-0.584*sin(x(2)+0.3665);
J(3,3)=-2.019*sin(x(3));
J(3,4)=-(1.797+0.1*sin(2*pi*t/6))*sin(x(4));
J(3,5)=0;
J(3,6)=0;
J(3,7)=0;
J(3,8)=0;
J(4,1)=0;
J(4,2)=0.584*cos(x(2)+0.3665);
J(4,3)=2.019*cos(x(3));
J(4,4)=(1.797+0.1*sin(2*pi*t/6))*cos(x(4));
J(4,5)=0;
J(4,6)=0;
J(4,7)=0;
J(4,8)=0;
J(5,1)=-2.809*sin(x(1)+0.0873)-0.732*sin(x(1)-2.6878);
J(5,2)=0;
J(5,3)=0;
J(5,4)=0;
J(5,5)=-0.769*sin(x(5));
J(5,6)=-(1.54+0.1*sin(2*pi*t/6))*sin(x(6));
J(5,7)=0;
J(5,8)=0;
J(6,1)=2.809*cos(x(1)+0.0873)+0.732*cos(x(1)-2.6878);
J(6,2)=0;
J(6,3)=0;
J(6,4)=0;
J(6,5)=0.769*cos(x(5));
J(6,6)=(1.54+0.1*sin(2*pi*t/6))*cos(x(6));
J(6,7)=0;
J(6,8)=0;
J(7,1)=-2.809*sin(x(1)+0.0873)+1.993*sin(x(1));
J(7,2)=0.424*sin(x(2)+2.2340);
J(7,3)=0;
J(7,4)=0;
J(7,5)=-1.888*sin(x(5)-0.1571);
J(7,6)=0;
J(7,7)=-0.529*sin(x(7));
J(7,8)=-(1.907+0.1*sin(2*pi*t/6))*sin(x(8));
J(8,1)=2.809*cos(x(1)+0.0873)-1.993*cos(x(1));
J(8,2)=-0.424*cos(x(2)+2.2340);
J(8,3)=0;
J(8,4)=0;
J(8,5)=1.888*cos(x(5)-0.1571);
J(8,6)=0;
J(8,7)=0.529*cos(x(7));
J(8,8)=(1.907+0.1*sin(2*pi*t/6))*cos(x(8));
return
end
per attivarlo: