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X00=[0 -500 0]'; N=200; omega=-0.05; fai=[1 sin(omega*T)/omega (1-cos(omega*T))/omega^2 0 cos(omega*T) sin(omega*T)/omega 0 -omega*sin(omega*T) cos(omega*T)]; X(:,1)=X00; for i=2:N+1 X(:,i)=fai*X(:,i-1); end