MATLAB PROGRAMMING FOR STATE SPACE

HI everyone hope some one definitely help me i am attaching a matlab code now i want also to plot my Mp vs Angles(x2 state) how can i do it please help me as soon as possible

function xdot=My2ndAugModel(t,x) x1=x(1); % Angle x2=x(2); % Velocity x3=x(3); % Ft x4=x(4); % Lm x5=x(5); % Lmdot

m=75; g=9.8; k=0.25; J=2.5; Mm=0.435; Fmc=69.45; lmc=0.125; Kt=63000; rp=0.05; Km=6700; Bm=257.1;

%%%%%%%%%%%%%%%%%%%%%%%%_------------__%%%%%%%%%%%%%%%%%%% k1=1.5; k2=0.9; k3=2.5; k4=0.5; Bp=5.57; thetamin=(pi/180); thetamax=5*(pi/180); Mp=(k1*exp(-k2*(x1-thetamin))-k3.*exp(-k4*(thetamax-x1))-Bp*x2); %%%%%%%%%%%%%%%%%%%%%%%%_------------__%%%%%%%%%%%%%%%%%%%

x1dot=x2; x2dot=(((m*g*k)*cos(x1))-(rp*x3)+Mp)/J; x3dot=Kt*(rp*x2-x5); x4dot=x5; x5dot=(x3-((Km*(x4-lmc)+Fmc)+Bm*x5))/Mm; xdot=[x1dot;x2dot;x3dot;x4dot;x5dot]; end

clc close all clear all t=linspace(0,3,500); F0=1200; xinit=[0 0 0 0.0959 0]; options=odeset('RelTol',1e-4,'AbsTol',1e-5); %[t,x]=ode45(@My2ndAugModel,t,xinit,options);

[t,x]=ode45(@(t,x) My2ndAugModel(t,x),t,xinit,options)

angle=x(:,1)*(180/pi); vel=x(:,2); Ft=x(:,3); Lm=x(:,4); Lmdot=x(:,5); subplot(321); plot(t,angle);ylabel('Angle (deg)') subplot (322) plot(t,vel);ylabel('\thetadot (rad/sec)') subplot(323) plot(t,Ft);ylabel('Ft') subplot(324) plot(t,Lm);ylabel('Lm') subplot(325) plot(t,Lmdot);ylabel('Lmdot')

[Bilal sadiq]

function xdot=My2ndAugModel(t,x) x1=x(1); % Angle

x2=x(2); % Velocity

x3=x(3); % Ft

x4=x(4); % Lm

x5=x(5); % Lmdot

m=75;

g=9.8;

k=0.25;

J=2.5;

Mm=0.435;

Fmc=69.45;

lmc=0.125; Kt=63000; rp=0.05; Km=6700; Bm=257.1;

k1=1.5;

k2=0.9;

k3=2.5;

k4=0.5;

Bp=5.57;

thetamin=(pi/180);

thetamax=5*(pi/180);

Mp=(k1*exp(-k2*(x1-thetamin))-k3.*exp(-k4*(thetamax-x1))-Bp*x2);

x1dot=x2;

x2dot=(((m*g*k)*cos(x1))-(rp*x3)+Mp)/J;

x3dot=Kt*(rp*x2-x5);

x4dot=x5;

x5dot=(x3-((Km*(x4-lmc)+Fmc)+Bm*x5))/Mm;

xdot=[x1dot;x2dot;x3dot;x4dot;x5dot];

end %%%%%%%%%%%%%%%% With Run File %%%%%%%%%%%%%%%%%%%% clc

close all

clear all

t=linspace(0,3,500);

F0=1200;

xinit=[0 0 0 0.0959 0];

options=odeset('RelTol',1e-4,'AbsTol',1e-5);

%[t,x]=ode45(@My2ndAugModel,t,xinit,options);

[t,x]=ode45(@(t,x) My2ndAugModel(t,x),t,xinit,options)

angle=x(:,1)*(180/pi);

vel=x(:,2);

Ft=x(:,3);

Lm=x(:,4);

Lmdot=x(:,5);

subplot(321);

plot(t,angle);ylabel('Angle (deg)')

subplot (322)

plot(t,vel);ylabel('\thetadot (rad/sec)')

subplot(323)

plot(t,Ft);ylabel('Ft')

subplot(324)

plot(t,Lm);ylabel('Lm')

subplot(325)

plot(t,Lmdot);ylabel('Lmdot')

[Bilal sadiq]

Sorry for bad look in my first post Question is: How can i plot the Mp variable function with angle on xaxis and Mp on Y axis,,,

the problem is i dont know how to get Mp out