Model Mathematics

Component: environment

Component: x

ddtimex=zr1y+-r2x+c1

Component: y

ddtimey=epsilonr3z+-r4x+c2+c3u

Component: z

ddtimez=epsilondeltar5y-y_z_-z+r6zz_-z-r7z

Component: u

ddtimeu=-omegav ddtimev=omegau

Component: model_constants