PlateODE.m

function dy = PlateODE(t,y,v0,dv0,M,K,Ma,Ia,Q,cycles,frot)
 w =([[(15813251*pi^4*t^3*((251*pi*cos((251*pi*t)/5))/5 + (116213*pi*cos((502*pi*t)/5))/6250))/(1500*((15813251*pi^3*t^3)/125 + 10)) + (15813251*pi^4*t^2*(sin((251*pi*t)/5) + (463*sin((502*pi*t)/5))/2500))/(500*((15813251*pi^3*t^3)/125 + 10)) - (250058907189001*pi^7*t^5*(sin((251*pi*t)/5) + (463*sin((502*pi*t)/5))/2500))/(62500*((15813251*pi^3*t^3)/125 + 10)^2)], [0], [0]]);
 dw=([[(15813251*pi^4*t*(sin((251*pi*t)/5) + (463*sin((502*pi*t)/5))/2500))/(250*((15813251*pi^3*t^3)/125 + 10)) - (15813251*pi^4*t^3*((63001*pi^2*sin((251*pi*t)/5))/25 + (29169463*pi^2*sin((502*pi*t)/5))/15625))/(1500*((15813251*pi^3*t^3)/125 + 10)) + (15813251*pi^4*t^2*((251*pi*cos((251*pi*t)/5))/5 + (116213*pi*cos((502*pi*t)/5))/6250))/(250*((15813251*pi^3*t^3)/125 + 10)) - (250058907189001*pi^7*t^5*((251*pi*cos((251*pi*t)/5))/5 + (116213*pi*cos((502*pi*t)/5))/6250))/(31250*((15813251*pi^3*t^3)/125 + 10)^2) - (500117814378002*pi^7*t^4*(sin((251*pi*t)/5) + (463*sin((502*pi*t)/5))/2500))/(15625*((15813251*pi^3*t^3)/125 + 10)^2) + (11862732792496131756753*pi^10*t^7*(sin((251*pi*t)/5) + (463*sin((502*pi*t)/5))/2500))/(3906250*((15813251*pi^3*t^3)/125 + 10)^3)], [0], [0]]);
 Q0 = w(2); 
 P0 = w(1); 
 Ca = funcCa(v0,w); 
 dy(1:6,1) = y(7:end); 
 dy(7:12,1) = mldivide(M,(-Q*dy(1:6) - K*y(1:6)+Ia*Ca*transpose(w)+(Q0^2+P0^2)*M*y(1:6)-Ma*[transpose(dv0);transpose(dw)])); 
 t