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,-1.80273599561743,5.25923148399132,-2.17608444355748
5.1,-1.0307579067425,-1.24353668430421,5.82481140361667,-2.79949875037417
5.2,-1.12522261436471,-0.64300440916985,6.04748257510137,-3.31130587634261
5.3,-1.1592124962359,-0.0379409362849631,5.93663216000362,-3.69110168645123
5.4,-1.13383605650707,0.536222156936198,5.4497172587264,-3.92374492026597
5.5,-1.05396244419096,1.0488134681975,4.70608941857471,-3.99996082620281
5.6,-0.927027937689112,1.47376030771876,3.73555922576465,-3.91671091660527
5.7,-0.762737838929616,1.79264354239405,2.61355404944882,-3.6773141026587
5.8,-0.572312199675631,1.99548574983561,1.42458709467826,-3.29131437987483
5.9,-0.367640689474864,2.07886112031207,0.262305797895213,-2.77410033910849
6,-0.160346121295144,2.04848897718534,-0.810850096629073,-2.14629167200174
6.1,0.0388399459182844,1.91690138358474,-1.7735540422846,-1.43291712894731
6.2,0.220290472708867,1.70086688471167,-2.49938359217591,-0.662416701793238
6.3,0.376747163577691,1.42178996137362,-2.98924153660433,0.134492188884554
6.4,0.503311439080471,1.10348685128045,-3.29015849694172,0.926039300406156
6.5,0.596974129613834,0.769202496718443,-3.33640210419518,1.68066814730656
6.6,0.657272799105245,0.440521180295967,-3.17264695963293,2.3682940588289
6.7,0.685844999000327,0.135894667251945,-2.86638329348033,2.96150355980979
6.8,0.685753365960606,-0.130056648987916,-2.42584670939147,3.43664725942599
6.9,0.66140326582697,-0.348319746055368,-1.9226177252087,3.77478267777642
7,0.617826988441247,-0.514598278935145,-1.4050180793338,3.96242942277948
7.1,0.560200530262186,-0.629615801215413,-0.916072884584706,3.99210661086545
7.2,0.493413343237278,-0.698799738553371,-0.492918132824704,3.86263110619711
7.3,0.421696974884123,-0.730300222058687,-0.171396746593982,3.57916468856201
7.4,0.348266639065028,-0.734788651043527,0.0391562230663334,3.15300826950127
7.5,0.275227865476597,-0.723747007930665,0.146209239141171,2.60115136062847
7.6,0.203651184279577,-0.707781762836823,0.149580300874469,1.94559475541519
7.7,0.133570306091302,-0.695777792179925,0.0729875409504171,1.21247342698281
7.8,0.0642193033125308,-0.693970566176327,-0.0528266102661962,0.431014609197769
7.9,-0.00565996556890208,-0.705189843622758,-0.176774620509154,-0.367627400910727
8,-0.0773069806554265,-0.728754337147554,-0.272236743211374,-1.15161326666026
8.1,-0.151676363174065,-0.760025340521132,-0.320431798418941,-1.88968794559386
8.2,-0.229250063676892,-0.791068874381493,-0.269443420196352,-2.5524267293918
8.3,-0.309518198381683,-0.812020729944363,-0.116985223730814,-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,-0.706877423058831,0.987756481582191,-3.98760026416638
8.7,-0.610762318952125,-0.584754897081678,1.49232424767726,-3.97063752188253
8.8,-0.660834371953323,-0.410270182511013,1.99274911516514,-3.7953779916725
8.9,-0.690978933802869,-0.185167021665459,2.4515939666655,-3.46880871794233
9,-0.69660755598576,0.0846502421423621,2.89889571627953,-3.0039489870867
9.1,-0.673247221005856,0.38886209853353,3.18600736796194,-2.41933128962514
9.2,-0.618026812346333,0.712716882427269,3.24837904850609,-1.73826248828757
9.3,-0.530322613201749,1.03769639917485,3.14927230108926,-0.987894646946484
9.4,-0.411125691046272,1.34339406863417,2.88048334532758,-0.19814256351347
9.5,-0.263123935437519,1.60779762342013,2.36197978077322,0.599508838651809
9.6,-0.0915023820210343,1.81056496541803,1.63746143257671,1.37325971527959
9.7,0.0964937857212176,1.93408194004453,0.767273551172054,2.0922630606308
9.8,0.29216268897519,1.96313670409293,-0.221801959468998,2.72785448027254
9.9,0.485613572634473,1.88840380409875,-1.26370594814139,3.25469495002842
10,0.666427396812341,1.70781029255568,-2.32502138310754,3.65178100291051
10.1,0.823991007159134,1.42465365235776,-3.33319403023297,3.90328207106791
10.2,0.948222677203598,1.04894121731208,-4.13865076550263,3.99917160057068
10.3,1.03106783959304,0.598156775647957,-4.76046725558523,3.93562677847446
10.4,1.06630832942662,0.0947352695087333,-5.21785090601743,3.71518093630896
10.5,1.04937031020003,-0.434312443933761,-5.31641723595177,3.34662255414422
10.6,0.979268118613924,-0.959752129511345,-5.08241943079759,2.84464489162392
10.7,0.858341732719841,-1.45161171663343,-4.62975436959169,2.22926021407063
10.8,0.691117803129841,-1.8802525964871,-3.86724815518654,1.52500196661976
10.9,0.485221391987975,-2.21970646439723,-2.85754093317921,0.759946703181751
11,0.250749571514318,-2.44943291557137,-1.6716101302423,-0.0354052371616155
11.1,-0.000438350261762848,-2.55312745846465,-0.375763795189493,-0.829345682427049
11.2,-0.255383909989738,-2.52309987678432,0.952965679522412,-1.59022273248574
11.3,-0.50079981292249,-2.3602203193737,2.28511009481016,-2.28770262043826
11.4,-0.723364614907139,-2.07139984431106,3.47086400980671,-2.89397902417698
11.5,-0.911220776793722,-1.6717298045001,4.42872084424178,-3.38488161670068
11.6,-1.05478973023789,-1.18365614859634,5.21919831200609,-3.74083966077816
11.7,-1.14616670056199,-0.633909431993268,5.71312747678929,-3.9476622324826
11.8,-1.1804123961182,-0.052903997274252,5.811101392612,-3.99710396854651
11.9,-1.15654707774829,0.527556150777705,5.65764025054154,-3.88719378297545
12,-1.07610535687297,1.07571672648671,5.21631278315875,-3.6223134480265
12.1,-0.943500508166056,1.56146712848275,4.43697105899985,-3.21302290677581
12.2,-0.766525948869145,1.96035615835788,3.46092939912567,-2.67563928151209
12.3,-0.554942095580977,2.25250630665306,2.32723683989551,-2.03158636156249
12.4,-0.320085873893855,2.42370796171182,1.08931263730662,-1.30654050441889
12.5,-0.0743365258336663,2.46879082652308,-0.177019240920412,-0.529407000391092
12.6,0.169642629817318,2.38887320745735,-1.41378215966316,0.268832290101914
12.7,0.399483963871671,2.1912696737395,-2.4953847335798,1.05635408553789
12.8,0.604371450590226,1.89125156271722,-3.41634101074372,1.80176237710156
12.9,0.775095527201344,1.50871959992941,-4.16363340087454,2.47534008848016
13,0.904183269803716,1.06691912927852,-4.60578356433547,3.05023380191841
13.1,0.987213176762734,0.591483046925509,-4.80212576778489,3.50352431924356
13.2,1.0222218260439,0.108629047861579,-4.76881448780196,3.81714037797079
13.3,1.00954233044705,-0.356205183827859,-4.45876635868865,3.97857909551135
13.4,0.952275171263314,-0.780824415768235,-3.96220376540213,3.98140441964624
13.5,0.855385974425555,-1.14594637692938,-3.2952486798701,3.82550371361801
13.6,0.725544290789095,-1.4371149546949,-2.50230123302676,3.51709224660289
13.7,0.570679594822368,-1.64564000854823,-1.64702732564755,3.06846541054211
13.8,0.399344625599165,-1.76678408803482,-0.7808677142772,2.49750854166557
13.9,0.22020097923319,-1.80188062145097,0.0469489535941892,1.82698388857677
14,0.0415268224031566,-1.75709452297478,0.824257478982615,1.08362315323148
14.1,-0.12890475963705,-1.64114478327725,1.47027075825354,0.297061782337431
14.2,-0.284633634094722,-1.46622301139371,1.97079614706269,-0.501342504385731
14.3,-0.420654547081767,-1.24683654154735,2.36176611031907,-1.27975984753679
14.4,-0.533057798965621,-0.997314523257605,2.59310175487771,-2.0071572040823
14.5,-0.619530033300698,-0.731801275213912,2.66333555853069,-2.65453553685187
14.6,-0.679368912050468,-0.462916466781302,2.66219437240939,-3.19608591463846
14.7,-0.712585847076144,-0.202057577113865,2.55190149362583,-3.61021843284075
14.8,-0.720283767165562,0.0418838528707965,2.32163308146019,-3.88042293482874
14.9,-0.704765356440377,0.263312972330478,2.0788313333124,-3.9959272197878
15,-0.668458632382069,0.458661712399707,1.81834120086989,-3.95212649637145
15.1,-0.613968496315062,0.626131581623423,1.5363026747621,-3.75076696120112
15.2,-0.544115333500434,0.766427475271897,1.27216427812526,-3.3998761835173
15.3,-0.461540527904553,0.881036343301911,1.02622940697884,-2.91344307132637
15.4,-0.368703428238884,0.97178141526668,0.797298150513748,-2.31086017778293
15.5,-0.267893347068078,1.04105962463048,0.592183486474357,-1.61615058129226
15.6,-0.161161431032528,1.09030538050508,0.394598168220051,-0.857010161183537
15.7,-0.0504835333147771,1.11987929835739,0.196387416210489,-0.063703450400393
15.8,0.0621582385650784,1.12950638006746,-0.00542612113192259,0.732142915922352
15.9,0.174745749233615,1.11775704891626,-0.239453023628034,1.49880105459785
16,0.284938729665871,1.08162158397329,-0.499980045730042,2.20570672496676
16.1,0.390131909640826,1.01802771910313,-0.781014098836352,2.82467782872134
16.2,0.487514948627418,0.92408182259519,-1.081230681301,3.33103794123112
16.3,0.574085680801,0.797145817515727,-1.46172506984858,3.70460008272211
16.4,0.646039162276096,0.635051860971201,-1.81897397838964,3.93047150945656
16.5,0.699802903967296,0.437977095267359,-2.13057734233631,3.99964744042907
16.6,0.732260872235133,0.208731503507477,-2.39893781212285,3.90937004956903
16.7,0.740729462381741,-0.0478983366353404,-2.68422717530223,3.66323841156328
16.8,0.722355780775327,-0.324577270594466,-2.85733049764975,3.27106501810577
16.9,0.675408794192415,-0.611199331914073,-2.86159329006442,2.74848458481896
17,0.599845874708859,-0.895577408933868,-2.75462306175851,2.1163307444801
17.1,0.496736724607718,-1.16413733097779,-2.55068385730742,1.39980547582665
17.2,0.368120735933503,-1.40174697538996,-2.16745299394969,0.62747438019364
17.3,0.217830217319791,-1.59394033340686,-1.63449153404597,-0.169872138867806
17.4,0.0511947833656191,-1.72774820042218,-0.990788498982925,-0.960446391815126
17.5,-0.125348535578382,-1.79095853322587,-0.244208088454634,-1.7127306779846
17.6,-0.304333935406929,-1.77494222941117,0.565762756929766,-2.39673379685706
17.7,-0.477661707666179,-1.67577850449359,1.41246201984706,-2.98518670257967
17.8,-0.636864859726958,-1.49279172650053,2.25451472115812,-3.45462963477182
17.9,-0.773522864576156,-1.22990903082873,2.98243310512067,-3.78634738513985
18,-0.880356538374148,-0.896795339672411,3.59912160219525,-3.96711541377246
18.1,-0.951198996150186,-0.507078295983122,4.13585113634964,-3.98972706981459
18.2,-0.980682942562729,-0.0782624790182752,4.41974070040262,-3.85328089789504
18.3,-0.965969481971245,0.369209230986198,4.44685044666215,-3.56321657630745
18.4,-0.906787516913139,0.813039716275554,4.32412725327548,-3.1310980542026
18.5,-0.804364279322279,1.22992832619715,3.95418668923797,-2.574152533428
18.6,-0.662399174839039,1.59732144999188,3.33450271279904,-1.91458367435366
18.7,-0.487089043227809,1.89570309190105,2.56072149023441,-1.17868640600103
18.8,-0.286171696714235,2.10752289091859,1.63380699481278,-0.395798630201158
18.9,-0.0689162802525327,2.21975287654311,0.601171810279521,0.40286838797003
19,0.154350854311965,2.22590557055069,-0.484649769109757,1.18547431483754
19.1,0.372771491185364,2.12370409200131,-1.56606702536715,1.92081912175304
19.2,0.575531457805093,1.91658596997831,-2.54192275532754,2.57958693177949
19.3,0.752872196871545,1.61513069870749,-3.41107769073864,3.13551475119317
19.4,0.896102159030612,1.23422981873052,-4.15639887813241,3.56643949216578
19.5,0.997768132408354,0.792893829276582,-4.62323032183455,3.85518154513635
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