t,q,dq,ddq,u
0,0,0,0,0
0.1,0.00112730370377742,0.0336536743050961,0.657669343872878,0.794677323180245
0.2,0.00883130084628362,0.130095105060834,1.23031152735571,1.5576733692346
0.3,0.0288384132623469,0.277086967848714,1.6472957578342,2.25856989358014
0.4,0.0653184832567522,0.456177260208145,1.85826392239339,2.86942436359809
0.5,0.120381192475091,0.64441963262565,1.82183441394098,3.36588393923159
0.6,0.19366224583284,0.816729955124557,1.5387129073771,3.72815634386891
0.7,0.28233042826436,0.947731422726794,1.01198704123085,3.94179891995384
0.8,0.381118481108189,1.01514724688817,0.281130829714293,3.99829441216602
0.9,0.48271784224916,1.00127150126433,-0.606890939324855,3.89539052351278
1,0.578248293996883,0.894322024572221,-1.54403616041735,3.63718970730273
1.1,0.658338384140432,0.691502504394097,-2.46777849195839,3.23398561527836
1.2,0.713750689364397,0.398398200996943,-3.35626893527373,2.7018527222046
1.3,0.735600305235625,0.0284599263544737,-4.00825914367234,2.06200548728586
1.4,0.71736732967013,-0.396782279453475,-4.38489881755735,1.33995260062362
1.5,0.655285365929061,-0.849118356836855,-4.531083639236,0.564480032239469
1.6,0.547892565795632,-1.29622623806606,-4.3244857319699,-0.23349657371032
1.7,0.397254908342504,-1.70407791327366,-3.73168898607231,-1.02216440810733
1.8,0.209300361028653,-2.04006080855522,-2.86613213766537,-1.77008177317941
1.9,-0.00731550766185135,-2.27387198043844,-1.72922293231809,-2.44743156377088
2,-0.241223605675537,-2.38106324008954,-0.381252753564326,-3.02720998123171
2.1,-0.478944231224866,-2.34680237646659,1.08356113140267,-3.48630308965435
2.2,-0.705829245460168,-2.16426570569947,2.58237734005865,-3.80640829555806
2.3,-0.906890486294884,-1.83629821096442,3.93455844050654,-3.97476401453386
2.4,-1.06860614272453,-1.37787653165824,5.11374520668299,-3.98465843534336
2.5,-1.17918434708735,-0.81284329382283,6.09389607575295,-3.83569709865255
2.6,-1.22882359069265,-0.17295878351365,6.62469772469187,-3.53381862288061
2.7,-1.21221585705102,0.503754630673891,6.74037610639779,-3.09105795022395
2.8,-1.12820436234541,1.17582411838087,6.533191358181,-2.52506655148928
2.9,-0.978860954057995,1.79981035847128,5.85182622072886,-1.85840871765503
3,-0.770999283563291,2.33562906493079,4.75245091059759,-1.1176619927957
3.1,-0.515613103962611,2.74891875894459,3.39005668287868,-0.332357611269986
3.2,-0.226326357533143,3.01046279160286,1.78219595985548,0.466196819401975
3.3,0.0807823484948785,3.10169417161173,0.0444195098736388,1.24616545405351
3.4,0.388335249621637,3.01614941528424,-1.75393602905129,1.97645340455444
3.5,0.678348790457882,2.7560797824945,-3.43408611860293,2.62794639487516
3.6,0.934021470108098,2.33567935225527,-4.86907935984763,3.17467145539661
3.7,1.14100335615984,1.78100950577136,-6.08628991994047,3.59483238324651
3.8,1.28712234301217,1.12495585256584,-6.94253943286844,3.87167868812595
3.9,1.36381593553582,0.406902302885183,-7.28297214851448,3.99417338149842
4,1.36767980657433,-0.330174021755641,-7.26531793532952,3.95743298649353
4.1,1.29889049825954,-1.04224588166547,-6.8546938160307,3.76292222671909
4.2,1.16155425178444,-1.68650054567169,-5.94967344220412,3.41839563235312
4.3,0.964721270887307,-2.22697247599071,-4.74230088590455,2.93758839149645
4.4,0.720465281131124,-2.63413817732492,-3.30905701113038,2.33966877156705
4.5,0.443118721263638,-2.88581866922071,-1.7019965436784,1.64847394096703
4.6,0.148752195959367,-2.9721968288911,-0.0363712415656969,0.891559656400984
4.7,-0.145978041760561,-2.89314281403451,1.60780240616761,0.0991017018134311
4.8,-0.424630255418812,-2.6573248762253,3.05425204912372,-0.697307124891926
4.9,-0.672739948585826,-2.28475882540464,4.28045566687232,-1.46591651700771
5,-0.878045085084117,-1.80273599561743,5.25923148399143,-2.17608444355748
5.1,-1.03075790674249,-1.24353668430421,5.82481140361651,-2.79949875037417
5.2,-1.12522261436471,-0.643004409169855,6.04748257510137,-3.31130587634261
5.3,-1.1592124962359,-0.0379409362849684,5.93663216000357,-3.69110168645123
5.4,-1.13383605650707,0.536222156936191,5.44971725872656,-3.92374492026596
5.5,-1.05396244419096,1.0488134681975,4.70608941857451,-3.99996082620281
5.6,-0.927027937689114,1.47376030771876,3.73555922576492,-3.91671091660527
5.7,-0.762737838929616,1.79264354239405,2.61355404944852,-3.6773141026587
5.8,-0.572312199675633,1.99548574983561,1.42458709467841,-3.29131437987484
5.9,-0.367640689474866,2.07886112031207,0.262305797895423,-2.77410033910849
6,-0.160346121295144,2.04848897718534,-0.810850096629428,-2.14629167200174
6.1,0.0388399459182828,1.91690138358474,-1.77355404228442,-1.43291712894731
6.2,0.220290472708866,1.70086688471167,-2.4993835921759,-0.662416701793245
6.3,0.37674716357769,1.42178996137362,-2.98924153660423,0.134492188884547
6.4,0.503311439080471,1.10348685128045,-3.29015849694185,0.926039300406156
6.5,0.596974129613834,0.769202496718443,-3.33640210419521,1.68066814730656
6.6,0.657272799105245,0.440521180295969,-3.17264695963287,2.36829405882889
6.7,0.685844999000327,0.135894667251947,-2.86638329348033,2.96150355980979
6.8,0.685753365960606,-0.130056648987914,-2.4258467093915,3.43664725942598
6.9,0.66140326582697,-0.348319746055368,-1.92261772520869,3.77478267777642
7,0.617826988441247,-0.514598278935145,-1.40501807933374,3.96242942277948
7.1,0.560200530262187,-0.629615801215412,-0.916072884584751,3.99210661086545
7.2,0.493413343237279,-0.69879973855337,-0.492918132824716,3.86263110619711
7.3,0.421696974884124,-0.730300222058687,-0.171396746594032,3.57916468856202
7.4,0.348266639065028,-0.734788651043527,0.0391562230663889,3.15300826950127
7.5,0.275227865476597,-0.723747007930665,0.146209239141237,2.60115136062847
7.6,0.203651184279578,-0.707781762836823,0.149580300874402,1.9455947554152
7.7,0.133570306091302,-0.695777792179926,0.0729875409504199,1.21247342698282
7.8,0.0642193033125314,-0.693970566176326,-0.0528266102662545,0.431014609197776
7.9,-0.00565996556890208,-0.705189843622758,-0.176774620509094,-0.367627400910727
8,-0.0773069806554265,-0.728754337147554,-0.272236743211374,-1.15161326666026
8.1,-0.151676363174065,-0.760025340521132,-0.320431798418802,-1.88968794559386
8.2,-0.229250063676891,-0.791068874381492,-0.26944342019663,-2.55242672939179
8.3,-0.309518198381683,-0.812020729944363,-0.116985223730676,-3.11340831413719
8.4,-0.390956185323783,-0.811937896451692,0.150000908551928,-3.55026813432602
8.5,-0.470894163180363,-0.780014211551689,0.506511756278782,-3.84558996751823
8.6,-0.545767023474155,-0.706877423058831,0.987756481582302,-3.98760026416638
8.7,-0.610762318952124,-0.584754897081681,1.49232424767703,-3.97063752188253
8.8,-0.660834371953323,-0.410270182511013,1.99274911516525,-3.7953779916725
8.9,-0.690978933802869,-0.185167021665459,2.4515939666655,-3.46880871794233
9,-0.69660755598576,0.0846502421423621,2.89889571627953,-3.0039489870867
9.1,-0.673247221005856,0.38886209853353,3.18600736796181,-2.41933128962514
9.2,-0.618026812346334,0.712716882427263,3.24837904850636,-1.73826248828759
9.3,-0.530322613201749,1.03769639917485,3.14927230108912,-0.987894646946484
9.4,-0.411125691046272,1.34339406863417,2.88048334532758,-0.19814256351347
9.5,-0.263123935437519,1.60779762342013,2.3619797807729,0.599508838651809
9.6,-0.0915023820210375,1.81056496541802,1.637461432577,1.37325971527958
9.7,0.0964937857212142,1.93408194004453,0.767273551172426,2.09226306063079
9.8,0.29216268897519,1.96313670409293,-0.221801959469345,2.72785448027254
9.9,0.485613572634473,1.88840380409875,-1.27624885849323,3.25469495002842
10,0.666301967708823,1.707692915511,0,3.65178100291051