Model Mathematics

Component: environment

Component: x

ddtimex=z⁢r1⁢y+-r2⁢x+c1

Component: y

ddtimey=epsilon⁢r3z+-r4⁢x+c2+c3⁢u

Component: z

ddtimez=epsilon⁢delta⁢r5⁢y-y_⁢z_-z+r6⁢z⁢z_-z-r7⁢z

Component: u

ddtimeu=-omega⁢v ddtimev=omega⁢u

Component: model_constants