t x(t)

0 -0.25
0.09817477 -0.14298808
0.19634954 0.08643526 x(t)
0.29452431 0.24186178 0.3
0.39269908 0.19023157
0.49087385 -0.02425501 0.2
0.58904862 -0.21797698
0.68722339 -0.22508988 0.1

0.78539816 -0.03950439
0
0.88357293 0.17990063 0 1 2 3 4 5 6 7
0.9817477 0.24529356
-0.1
1.07992247 0.10069182
1.17809725 -0.13011171 -0.2
1.27627202 -0.24952722
1.37444679 -0.15532364 -0.3
1.47262156 0.07185178
1.57079633 0.23751523
1.6689711 0.199843
1.76714587 -0.00891389
1.86532064 -0.21003964
1.96349541 -0.23135143
2.06167018 -0.05460435
2.15984495 0.16888926
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2.35619449 0.11456753
2.45436926 -0.11674323
2.55254403 -0.24811066
2.6507188 -0.16707172
2.74889357 0.05699654
2.84706834 0.23227033
2.94524311 0.20869857
3.04341788 0.00646095
3.14159265 -0.20130787
3.23976742 -0.23673795
3.33794219 -0.06949779
3.43611696 0.15723911
3.53429174 0.24936434
3.63246651 0.12800993
3.73064128 -0.10293319
3.82881605 -0.24575568
3.92699082 -0.17818789
4.02516559 0.04192573
4.12334036 0.22614692
4.22151513 0.21676479
4.3196899 0.02181134
4.41786467 -0.1918147
4.51603944 -0.24122907
4.61421421 -0.08412837
4.71238898 0.14499424
4.81056375 0.24998795
4.90873852 0.14096815
5.00691329 -0.08873383
5.10508806 -0.24247119
5.20326283 -0.1886301
5.3014376 0.02669634
5.39961237 0.21916816
5.49778714 0.22401115
5.59596191 0.03707924
5.69413668 -0.18159604
5.79231146 -0.2448078
5.89048623 -0.09844075
5.988661 0.13220096
6.08683577 0.24966605
6.18501054 0.1533932
6.28318531 -0.07419885
5 6 7
t x(t)
0 0 x(t)
0.09817477 0.16744035
0.25
0.19634954 0.1915358
0.29452431 0.05165835 0.2

0.39269908 -0.13244358 0.15

0.49087385 -0.20316118 0.1
0.58904862 -0.09995344 0.05
0.68722339 0.08882397 0
0 1 2 3 4 5 6 7
0.78539816 0.20155959 -0.05
0.88357293 0.14174099
-0.1
0.9817477 -0.03942141
-0.15
1.07992247 -0.18683532
-0.2
1.17809725 -0.1743004
1.27627202 -0.01254771 -0.25

1.37444679 0.15994701
1.47262156 0.19551184
1.57079633 0.0636999
1.6689711 -0.12264522
1.76714587 -0.20399435
1.86532064 -0.11070487
1.96349541 0.07735853
2.06167018 0.19919566
2.15984495 0.15050231
2.25801972 -0.02703536
2.35619449 -0.18142819
2.45436926 -0.18050119
2.55254403 -0.02504797
2.6507188 0.1518487
2.74889357 0.19874841
2.84706834 0.07550053
2.94524311 -0.112383
3.04341788 -0.20405597
3.14159265 -0.12103758
3.23976742 0.06560051
3.33794219 0.19607831
3.43611696 0.15869439
3.53429174 -0.01454706
3.63246651 -0.17533484
3.73064128 -0.18601928
3.82881605 -0.03745349
3.92699082 0.14317606
4.02516559 0.20123325
4.12334036 0.0870156
4.22151513 -0.10169571
4.3196899 -0.20334579
4.41786467 -0.13091249
4.51603944 0.05359437
4.61421421 0.19221935
4.71238898 0.16628624
4.81056375 -0.00200374
4.90873852 -0.16857833
5.00691329 -0.1908338
5.10508806 -0.04971734
5.20326283 0.1339619
5.3014376 0.20295698
5.39961237 0.09820155
5.49778714 -0.09062378
5.59596191 -0.20186651
5.69413668 -0.14029227
5.79231146 0.04138553
5.89048623 0.18763336
5.988661 0.17324916
6.08683577 0.01054716
6.18501054 -0.16118422
6.28318531 -0.19492653
5 6 7
t x(t)
0 1 x(t)
0.09817477 1.47434347 4
0.19634954 1.90722517
3
0.29452431 2.28606064
0.39269908 2.5987814 2

0.49087385 2.83446853 1
0.58904862 2.98397238
0
0.68722339 3.04048055 0 1 2 3 4 5 6
0.78539816 3 -1
0.88357293 2.86172432 -2
0.9817477 2.62826405
1.07992247 2.30572504 -3

1.17809725 1.90362764 -4
1.27627202 1.43466769
1.37444679 0.91432771
1.47262156 0.36035384
1.57079633 -0.20787958
1.6689711 -0.77009098
1.76714587 -1.30586725
1.86532064 -1.7954609
1.96349541 -2.22057475
2.06167018 -2.5651003
2.15984495 -2.81577845
2.25801972 -2.96275396
2.35619449 -3
2.45436926 -2.92559419
2.55254403 -2.74183396
2.6507188 -2.45518533
2.74889357 -2.07606648
2.84706834 -1.6184737
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3.04341788 -0.53851529
3.14159265 0.04321392
3.23976742 0.62369127
3.33794219 1.18085722
3.43611696 1.69347524
3.53429174 2.14195331
3.63246651 2.50910415
3.73064128 2.78081437
3.82881605 2.94659619
3.92699082 3
4.02516559 2.93887144
4.12334036 2.76544282
4.22151513 2.48625507
4.3196899 2.11191299
4.41786467 1.65668321
4.51603944 1.13795023
4.61421421 0.57555142
4.71238898 -0.00898329
4.81056375 -0.59325776
4.90873852 -1.15487019
5.00691329 -1.6722745
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5.20326283 -2.49746369
5.3014376 -2.77354605
5.39961237 -2.94323732
5.49778714 -3
5.59596191 -2.9416315
5.69413668 -2.77035062
5.79231146 -2.49271384
5.89048623 -2.11936475
5.988661 -1.66462619
6.08683577 -1.1459507
6.18501054 -0.58325047
6.28318531 0.00186744
)

4 5 6 7
t x(t)
0 2 x(t)
0.09817477 1.88491854 2.5
0.19634954 1.65479327
0.29452431 1.41308389 2
0.39269908 1.20243612
0.49087385 1.0316185 1.5
0.58904862 0.89250365
0.68722339 0.77079902 1

0.78539816 0.6526925
0.5
0.88357293 0.52866285
0.9817477 0.39519741
0
1.07992247 0.25491056 0 1 2 3 4 5 6 7
1.17809725 0.11546112 -0.5
1.27627202 -0.01234825
1.37444679 -0.11689565
1.47262156 -0.18809265
1.57079633 -0.2193979
1.6689711 -0.20919222
1.76714587 -0.16131942
1.86532064 -0.08472563
1.96349541 0.00773357
2.06167018 0.10112442
2.15984495 0.18061551
2.25801972 0.23366757
2.35619449 0.25189287
2.45436926 0.23229615
2.55254403 0.17770475
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3.04341788 -0.2308168
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3.53429174 2.46907E-05
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3.82881605 0.23097808
3.92699082 0.25000567
4.02516559 0.2309738
4.12334036 0.1767794
4.22151513 0.09567273
4.3196899 1.28843E-06
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4.71238898 -0.24999971
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5.00691329 -0.09567076
5.10508806 6.52473E-08
5.20326283 0.0956709
5.3014376 0.17677673
5.39961237 0.2309699
5.49778714 0.25000001
5.59596191 0.23096989
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5.89048623 3.23313E-09
5.988661 -0.09567086
6.08683577 -0.17677669
6.18501054 -0.23096988
6.28318531 -0.25
5 6 7
t x(t)
0 2
0.09817477 1.91622581 x(t)
0.19634954 1.68121539 3
0.29452431 1.32780816
0.39269908 0.89676721 2

0.49087385 0.43237944 1
0.58904862 -0.02197555
0.68722339 -0.42785296 0
0 1 2 3 4 5 6
0.78539816 -0.75499471
-1
0.88357293 -0.98353086
0.9817477 -1.10497572 -2
1.07992247 -1.12199448
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1.27627202 -0.90009826 -4
1.37444679 -0.70576948
1.47262156 -0.49015322
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1.6689711 -0.08897802
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1.86532064 0.16820692
1.96349541 0.22976376
2.06167018 0.25335691
2.15984495 0.25047554
2.25801972 0.23528973
2.35619449 0.22223119
2.45436926 0.22362022
2.55254403 0.24764047
2.6507188 0.29691915
2.74889357 0.36789636
2.84706834 0.45107275
2.94524311 0.5321193
3.04341788 0.5937284
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3.23976742 0.58903813
3.33794219 0.49556696
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4.02516559 -1.32533361
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4.3196899 -1.37166755
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4.61421421 -0.26981029
4.71238898 0.27777778
4.81056375 0.84894153
4.90873852 1.39244749
5.00691329 1.85552971
5.10508806 2.1889472
5.20326283 2.35203061
5.3014376 2.31721432
5.39961237 2.07357474
5.49778714 1.62897003
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5.69413668 0.2631048
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5.89048623 -1.36975924
5.988661 -2.11191049
6.08683577 -2.70890165
6.18501054 -3.09899234
6.28318531 -3.23598776
t)

4 5 6 7
t q(t) i(t)
0 0 0 q(t)
0.09817477 0.22503006 4.42081673
15
0.19634954 0.83572256 7.8558477
0.29452431 1.73567193 10.3186846 10
0.39269908 2.83145154 11.8552433
5
0.49087385 4.0354432 12.5367984
0.58904862 5.2679982 12.4533631 0
0.68722339 6.45897235 11.7075802 0 1 2 3 4 5 6

0.78539816 7.54869135 10.4092414 -5

0.88357293 8.48841232 8.6705131
-10
0.9817477 9.24035277 6.60190364
1.07992247 9.77736065 4.30897931 -15
1.17809725 10.0822977 1.88980678
-20
1.27627202 10.147206 -0.56692049
1.37444679 9.97232148 -2.98313043
1.47262156 9.56499294 -5.29206478
1.57079633 8.93855743 -7.43849202
1.6689711 8.1112147 -9.37851977
1.76714587 7.10493677 -11.0790853
1.86532064 5.94444008 -12.5171994
1.96349541 4.65624115 -13.6790135
2.06167018 3.26780985 -14.5587745
2.15984495 1.8068285 -15.1577212
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2.35619449 -1.22467491 -15.5464386
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2.55254403 -4.23390107 -14.9535834
2.6507188 -5.67326998 -14.3362675
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3.04341788 -10.5718864 -10.2371653
3.14159265 -11.5127581 -8.91572247
3.23976742 -12.3199916 -7.51807166
3.33794219 -12.987078 -6.06385327
3.43611696 -13.5093829 -4.57159818
3.53429174 -13.8840345 -3.05868628
3.63246651 -14.1098108 -1.54134457
3.73064128 -14.1870272 -0.03467411
3.82881605 -14.1174282 1.44730413
3.92699082 -13.9040841 2.891593
4.02516559 -13.5512934 4.28615971
4.12334036 -13.0644908 5.61987905
4.22151513 -12.4501609 6.88248363
4.3196899 -11.7157556 8.06452442
4.41786467 -10.8696158 9.15734335
4.51603944 -9.92089399 10.1530589
4.61421421 -8.87947847 11.0445646
4.71238898 -7.75591681 11.8255392
4.81056375 -6.56133779 12.4904677
4.90873852 -5.3073709 13.0346703
5.00691329 -4.00606264 13.4543379
5.10508806 -2.66978916 13.7465705
5.20326283 -1.31116505 13.9094175
5.3014376 0.05705179 13.9419154
5.39961237 1.42205873 13.8441225
5.49778714 2.77111023 13.617147
5.59596191 4.0916219 13.2631668
5.69413668 5.37127616 12.7854401
5.79231146 6.59812837 12.1883046
5.89048623 7.76071227 11.4771652
5.988661 8.84814359 10.6584684
6.08683577 9.85022061 9.73966457
6.18501054 10.7575203 8.72915683
6.28318531 11.5614888 7.63623789
 i(t)
20

15

10

5
4 5 6 7
0
0 1 2 3 4 5 6 7
-5

-10

-15

-20
6 7