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nonlinear_eng_mount_without_damper.m
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nonlinear_eng_mount_without_damper.m
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function dx = nonlinear_eng_mount_without_damper (t,x)
dx=x;
dx(1:3) = x(7:9);
global m I T_Amp T_Freq T_phase
M1 = m*eye(3,3);
X = x(1); Y = x(2); Z = x(3); gamma = x(4); beta = x(5); alpha = x(6);
Xd = x(7); Yd = x(8); Zd = x(9); wx = x(10); wy = x(11); wz = x(12);
T = [0;T_Amp*sin(T_Freq*t+T_phase);0]; %Exerted torque by the crankshaft
sa = sin(alpha); ca = cos(alpha); sb = sin(beta); cb = cos(beta); sg = sin(gamma); cg = cos(gamma);
I_KM = [ 1, (sb*sg)/cb, (cg*sb)/cb
0, cg, -sg
0, sg/cb, cg/cb];
Bias_1 = [ (25510982991379597*X)/68719476736 - (206830318486103*Z)/549755813888 - 203900*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((17*gamma)/250 - (17*alpha*sin(beta))/250 - (131*beta*sin(gamma))/500 + (131*alpha*cos(beta)*cos(gamma))/500) + (6496303778528397*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/68719476736 + 72800*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((233*gamma)/2000 - (233*alpha*sin(beta))/2000 - (7*beta*sin(gamma))/125 + (7*alpha*cos(beta)*cos(gamma))/125) + (6496303778528397*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/68719476736 - 203900*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((131*beta*cos(gamma))/500 - (369*gamma)/10000 + (369*alpha*sin(beta))/10000 + (131*alpha*cos(beta)*sin(gamma))/500) + 72800*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((7*beta*cos(gamma))/125 - (4331*gamma)/10000 + (4331*alpha*sin(beta))/10000 + (7*alpha*cos(beta)*sin(gamma))/125) + (206830318486103*sin(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/549755813888 + (6496303778528397*cos(alpha)*cos(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/68719476736 - 203900*cos(alpha)*cos(beta)*((17*beta*cos(gamma))/250 - (369*beta*sin(gamma))/10000 + (369*alpha*cos(beta)*cos(gamma))/10000 + (17*alpha*cos(beta)*sin(gamma))/250) + 72800*cos(alpha)*cos(beta)*((233*beta*cos(gamma))/2000 - (4331*beta*sin(gamma))/10000 + (4331*alpha*cos(beta)*cos(gamma))/10000 + (233*alpha*cos(beta)*sin(gamma))/2000) - (206830318486103*cos(beta)*cos(gamma)*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/549755813888 + (206830318486103*cos(beta)*sin(gamma)*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/549755813888
225800*Y + 41700*(cos(alpha)*cos(gamma) + sin(alpha)*sin(beta)*sin(gamma))*((17*gamma)/250 - (17*alpha*sin(beta))/250 - (131*beta*sin(gamma))/500 + (131*alpha*cos(beta)*cos(gamma))/500) - 111300*(cos(alpha)*cos(gamma) + sin(alpha)*sin(beta)*sin(gamma))*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000) - 72800*(cos(alpha)*cos(gamma) + sin(alpha)*sin(beta)*sin(gamma))*((233*gamma)/2000 - (233*alpha*sin(beta))/2000 - (7*beta*sin(gamma))/125 + (7*alpha*cos(beta)*cos(gamma))/125) - 111300*(cos(alpha)*sin(gamma) - cos(gamma)*sin(alpha)*sin(beta))*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000) + 41700*(cos(alpha)*sin(gamma) - cos(gamma)*sin(alpha)*sin(beta))*((131*beta*cos(gamma))/500 - (369*gamma)/10000 + (369*alpha*sin(beta))/10000 + (131*alpha*cos(beta)*sin(gamma))/500) - 72800*(cos(alpha)*sin(gamma) - cos(gamma)*sin(alpha)*sin(beta))*((7*beta*cos(gamma))/125 - (4331*gamma)/10000 + (4331*alpha*sin(beta))/10000 + (7*alpha*cos(beta)*sin(gamma))/125) + 111300*cos(beta)*sin(alpha)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250) - 41700*cos(beta)*sin(alpha)*((17*beta*cos(gamma))/250 - (369*beta*sin(gamma))/10000 + (369*alpha*cos(beta)*cos(gamma))/10000 + (17*alpha*cos(beta)*sin(gamma))/250) + 72800*cos(beta)*sin(alpha)*((233*beta*cos(gamma))/2000 - (4331*beta*sin(gamma))/10000 + (4331*alpha*cos(beta)*cos(gamma))/10000 + (233*alpha*cos(beta)*sin(gamma))/2000)
(8894579649987001*Z)/34359738368 - (25853789810763*X)/68719476736 - (25853789810763*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/68719476736 - (25853789810763*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/68719476736 - (3177119185551801*sin(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/34359738368 + 82000*sin(beta)*((17*beta*cos(gamma))/250 - (369*beta*sin(gamma))/10000 + (369*alpha*cos(beta)*cos(gamma))/10000 + (17*alpha*cos(beta)*sin(gamma))/250) - 84400*sin(beta)*((233*beta*cos(gamma))/2000 - (4331*beta*sin(gamma))/10000 + (4331*alpha*cos(beta)*cos(gamma))/10000 + (233*alpha*cos(beta)*sin(gamma))/2000) - (25853789810763*cos(alpha)*cos(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/68719476736 + (3177119185551801*cos(beta)*cos(gamma)*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/34359738368 - 82000*cos(beta)*cos(gamma)*((131*beta*cos(gamma))/500 - (369*gamma)/10000 + (369*alpha*sin(beta))/10000 + (131*alpha*cos(beta)*sin(gamma))/500) + 84400*cos(beta)*cos(gamma)*((7*beta*cos(gamma))/125 - (4331*gamma)/10000 + (4331*alpha*sin(beta))/10000 + (7*alpha*cos(beta)*sin(gamma))/125) + 82000*cos(beta)*sin(gamma)*((17*gamma)/250 - (17*alpha*sin(beta))/250 - (131*beta*sin(gamma))/500 + (131*alpha*cos(beta)*cos(gamma))/500) - (3177119185551801*cos(beta)*sin(gamma)*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/34359738368 - 84400*cos(beta)*sin(gamma)*((233*gamma)/2000 - (233*alpha*sin(beta))/2000 - (7*beta*sin(gamma))/125 + (7*alpha*cos(beta)*cos(gamma))/125)];
Bias_2 =[ (870608688025783087*Z)/171798691840000 - (123946*Y)/5 - (53956859335062381*X)/343597383680000 + (14178*(cos(alpha)*cos(gamma) + sin(alpha)*sin(beta)*sin(gamma))*((17*gamma)/250 - (17*alpha*sin(beta))/250 - (131*beta*sin(gamma))/500 + (131*alpha*cos(beta)*cos(gamma))/500))/5 + (95718*(cos(alpha)*cos(gamma) + sin(alpha)*sin(beta)*sin(gamma))*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/5 - (53956859335062381*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/343597383680000 + (42406*(cos(alpha)*cos(gamma) + sin(alpha)*sin(beta)*sin(gamma))*((233*gamma)/2000 - (233*alpha*sin(beta))/2000 - (7*beta*sin(gamma))/125 + (7*alpha*cos(beta)*cos(gamma))/125))/5 - (53956859335062381*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/343597383680000 + (95718*(cos(alpha)*sin(gamma) - cos(gamma)*sin(alpha)*sin(beta))*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/5 + (14178*(cos(alpha)*sin(gamma) - cos(gamma)*sin(alpha)*sin(beta))*((131*beta*cos(gamma))/500 - (369*gamma)/10000 + (369*alpha*sin(beta))/10000 + (131*alpha*cos(beta)*sin(gamma))/500))/5 + (42406*(cos(alpha)*sin(gamma) - cos(gamma)*sin(alpha)*sin(beta))*((7*beta*cos(gamma))/125 - (4331*gamma)/10000 + (4331*alpha*sin(beta))/10000 + (7*alpha*cos(beta)*sin(gamma))/125))/5 - (6630647740246608687*sin(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/171798691840000 + (15129*sin(beta)*((17*beta*cos(gamma))/250 - (369*beta*sin(gamma))/10000 + (369*alpha*cos(beta)*cos(gamma))/10000 + (17*alpha*cos(beta)*sin(gamma))/250))/5 + (913841*sin(beta)*((233*beta*cos(gamma))/2000 - (4331*beta*sin(gamma))/10000 + (4331*alpha*cos(beta)*cos(gamma))/10000 + (233*alpha*cos(beta)*sin(gamma))/2000))/25 + wy*((19*wx)/100 - (21*wy)/100 + (11*wz)/2) + wz*((41*wx)/50 - (341*wy)/100 + (21*wz)/100) - (53956859335062381*cos(alpha)*cos(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/343597383680000 - (95718*cos(beta)*sin(alpha)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/5 - (14178*cos(beta)*sin(alpha)*((17*beta*cos(gamma))/250 - (369*beta*sin(gamma))/10000 + (369*alpha*cos(beta)*cos(gamma))/10000 + (17*alpha*cos(beta)*sin(gamma))/250))/5 - (42406*cos(beta)*sin(alpha)*((233*beta*cos(gamma))/2000 - (4331*beta*sin(gamma))/10000 + (4331*alpha*cos(beta)*cos(gamma))/10000 + (233*alpha*cos(beta)*sin(gamma))/2000))/5 + (6630647740246608687*cos(beta)*cos(gamma)*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/171798691840000 - (15129*cos(beta)*cos(gamma)*((131*beta*cos(gamma))/500 - (369*gamma)/10000 + (369*alpha*sin(beta))/10000 + (131*alpha*cos(beta)*sin(gamma))/500))/5 - (913841*cos(beta)*cos(gamma)*((7*beta*cos(gamma))/125 - (4331*gamma)/10000 + (4331*alpha*sin(beta))/10000 + (7*alpha*cos(beta)*sin(gamma))/125))/25 + (15129*cos(beta)*sin(gamma)*((17*gamma)/250 - (17*alpha*sin(beta))/250 - (131*beta*sin(gamma))/500 + (131*alpha*cos(beta)*cos(gamma))/500))/5 - (6630647740246608687*cos(beta)*sin(gamma)*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/171798691840000 + (913841*cos(beta)*sin(gamma)*((233*gamma)/2000 - (233*alpha*sin(beta))/2000 - (7*beta*sin(gamma))/125 + (7*alpha*cos(beta)*cos(gamma))/125))/25
(29798967388314373*X)/2748779069440 - (1130152373372019657*Z)/137438953472000 + (69326*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((17*gamma)/250 - (17*alpha*sin(beta))/250 - (131*beta*sin(gamma))/500 + (131*alpha*cos(beta)*cos(gamma))/500))/5 + (44598393898179333*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/2748779069440 + (42406*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((233*gamma)/2000 - (233*alpha*sin(beta))/2000 - (7*beta*sin(gamma))/125 + (7*alpha*cos(beta)*cos(gamma))/125))/5 + (44598393898179333*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/2748779069440 + (69326*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((131*beta*cos(gamma))/500 - (369*gamma)/10000 + (369*alpha*sin(beta))/10000 + (131*alpha*cos(beta)*sin(gamma))/500))/5 + (42406*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((7*beta*cos(gamma))/125 - (4331*gamma)/10000 + (4331*alpha*sin(beta))/10000 + (7*alpha*cos(beta)*sin(gamma))/125))/5 - (1172994633330367543*sin(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/137438953472000 - 21484*sin(beta)*((17*beta*cos(gamma))/250 - (369*beta*sin(gamma))/10000 + (369*alpha*cos(beta)*cos(gamma))/10000 + (17*alpha*cos(beta)*sin(gamma))/250) - (23632*sin(beta)*((233*beta*cos(gamma))/2000 - (4331*beta*sin(gamma))/10000 + (4331*alpha*cos(beta)*cos(gamma))/10000 + (233*alpha*cos(beta)*sin(gamma))/2000))/5 - wx*((19*wx)/100 - (21*wy)/100 + (11*wz)/2) + wz*((291*wx)/50 - (41*wy)/50 + (19*wz)/100) + (44598393898179333*cos(alpha)*cos(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/2748779069440 + (69326*cos(alpha)*cos(beta)*((17*beta*cos(gamma))/250 - (369*beta*sin(gamma))/10000 + (369*alpha*cos(beta)*cos(gamma))/10000 + (17*alpha*cos(beta)*sin(gamma))/250))/5 + (42406*cos(alpha)*cos(beta)*((233*beta*cos(gamma))/2000 - (4331*beta*sin(gamma))/10000 + (4331*alpha*cos(beta)*cos(gamma))/10000 + (233*alpha*cos(beta)*sin(gamma))/2000))/5 + (1172994633330367543*cos(beta)*cos(gamma)*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/137438953472000 + 21484*cos(beta)*cos(gamma)*((131*beta*cos(gamma))/500 - (369*gamma)/10000 + (369*alpha*sin(beta))/10000 + (131*alpha*cos(beta)*sin(gamma))/500) + (23632*cos(beta)*cos(gamma)*((7*beta*cos(gamma))/125 - (4331*gamma)/10000 + (4331*alpha*sin(beta))/10000 + (7*alpha*cos(beta)*sin(gamma))/125))/5 - 21484*cos(beta)*sin(gamma)*((17*gamma)/250 - (17*alpha*sin(beta))/250 - (131*beta*sin(gamma))/500 + (131*alpha*cos(beta)*cos(gamma))/500) - (1172994633330367543*cos(beta)*sin(gamma)*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/137438953472000 - (23632*cos(beta)*sin(gamma)*((233*gamma)/2000 - (233*alpha*sin(beta))/2000 - (7*beta*sin(gamma))/125 + (7*alpha*cos(beta)*cos(gamma))/125))/5
(431654874680496961*Z)/2748779069440000 - (35023*Y)/10 - (5309466220564930939*X)/343597383680000 + (54627*(cos(alpha)*cos(gamma) + sin(alpha)*sin(beta)*sin(gamma))*((17*gamma)/250 - (17*alpha*sin(beta))/250 - (131*beta*sin(gamma))/500 + (131*alpha*cos(beta)*cos(gamma))/500))/5 + (752391*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((17*gamma)/250 - (17*alpha*sin(beta))/250 - (131*beta*sin(gamma))/500 + (131*alpha*cos(beta)*cos(gamma))/500))/100 + (103509*(cos(alpha)*cos(gamma) + sin(alpha)*sin(beta)*sin(gamma))*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/10 - (13557785985788764539*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/343597383680000 + (20384*(cos(alpha)*cos(gamma) + sin(alpha)*sin(beta)*sin(gamma))*((233*gamma)/2000 - (233*alpha*sin(beta))/2000 - (7*beta*sin(gamma))/125 + (7*alpha*cos(beta)*cos(gamma))/125))/5 + (788242*(cos(gamma)*sin(alpha) - cos(alpha)*sin(beta)*sin(gamma))*((233*gamma)/2000 - (233*alpha*sin(beta))/2000 - (7*beta*sin(gamma))/125 + (7*alpha*cos(beta)*cos(gamma))/125))/25 - (13557785985788764539*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/343597383680000 + (103509*(cos(alpha)*sin(gamma) - cos(gamma)*sin(alpha)*sin(beta))*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/10 + (752391*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((131*beta*cos(gamma))/500 - (369*gamma)/10000 + (369*alpha*sin(beta))/10000 + (131*alpha*cos(beta)*sin(gamma))/500))/100 + (54627*(cos(alpha)*sin(gamma) - cos(gamma)*sin(alpha)*sin(beta))*((131*beta*cos(gamma))/500 - (369*gamma)/10000 + (369*alpha*sin(beta))/10000 + (131*alpha*cos(beta)*sin(gamma))/500))/5 + (788242*(sin(alpha)*sin(gamma) + cos(alpha)*cos(gamma)*sin(beta))*((7*beta*cos(gamma))/125 - (4331*gamma)/10000 + (4331*alpha*sin(beta))/10000 + (7*alpha*cos(beta)*sin(gamma))/125))/25 + (20384*(cos(alpha)*sin(gamma) - cos(gamma)*sin(alpha)*sin(beta))*((7*beta*cos(gamma))/125 - (4331*gamma)/10000 + (4331*alpha*sin(beta))/10000 + (7*alpha*cos(beta)*sin(gamma))/125))/5 - (431654874680496961*sin(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/2748779069440000 - wx*((41*wx)/50 - (341*wy)/100 + (21*wz)/100) - wy*((291*wx)/50 - (41*wy)/50 + (19*wz)/100) - (13557785985788764539*cos(alpha)*cos(beta)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/343597383680000 + (752391*cos(alpha)*cos(beta)*((17*beta*cos(gamma))/250 - (369*beta*sin(gamma))/10000 + (369*alpha*cos(beta)*cos(gamma))/10000 + (17*alpha*cos(beta)*sin(gamma))/250))/100 + (788242*cos(alpha)*cos(beta)*((233*beta*cos(gamma))/2000 - (4331*beta*sin(gamma))/10000 + (4331*alpha*cos(beta)*cos(gamma))/10000 + (233*alpha*cos(beta)*sin(gamma))/2000))/25 - (103509*cos(beta)*sin(alpha)*((43*beta*cos(gamma))/250 + (2087*beta*sin(gamma))/5000 - (2087*alpha*cos(beta)*cos(gamma))/5000 + (43*alpha*cos(beta)*sin(gamma))/250))/10 - (54627*cos(beta)*sin(alpha)*((17*beta*cos(gamma))/250 - (369*beta*sin(gamma))/10000 + (369*alpha*cos(beta)*cos(gamma))/10000 + (17*alpha*cos(beta)*sin(gamma))/250))/5 - (20384*cos(beta)*sin(alpha)*((233*beta*cos(gamma))/2000 - (4331*beta*sin(gamma))/10000 + (4331*alpha*cos(beta)*cos(gamma))/10000 + (233*alpha*cos(beta)*sin(gamma))/2000))/5 + (431654874680496961*cos(beta)*cos(gamma)*((2087*gamma)/5000 + (93*beta*cos(gamma))/1000 - (2087*alpha*sin(beta))/5000 + (93*alpha*cos(beta)*sin(gamma))/1000))/2748779069440000 - (431654874680496961*cos(beta)*sin(gamma)*((43*gamma)/250 - (43*alpha*sin(beta))/250 - (93*beta*sin(gamma))/1000 + (93*alpha*cos(beta)*cos(gamma))/1000))/2748779069440000];
dx(4:6) = I_KM*x(10:12);
dx(7:9) = M1\(-Bias_1);
dx(10:12) = I\(-Bias_2+T);