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syms x y m g r l J
% x,y are variables, the others are constant
1: 0.5*m*(r^2*x^2+l^2*(Dx-Dy)^2+2*r*l*Dx*(Dx-Dy)*cos(y))+0.5*J*(Dx-Dy)^2=m*g*
(l*sin(x-y)-r*(1-cos(x)));
2: J*(D2x-D2y)+l^2*(D2x-D2y)-r*l*(Dx)^2*sin(y)+r*l*D2x*cos(y)-m*g*l*cos(x-y)=0,
3: x(0)=pi/2,y(0)=pi/2,Dx(0)=0,Dy(0)=0,
を微分方程式を解きますそのような状況で使用する