% ---------------------------
% •¨—�ƒpƒ‰ƒ��[ƒ^‚Ì’è‹`
m1  = 3.06e-001;
l1  = 1.20e-001;
L1  = 2.27e-001;
J2  = 1.38e-003;
m2  = 1.04e-001;
l2  = 1.75e-001;
mu2 = 1.86e-004;
g   = 9.81e+000;
a1  = 6.25e+000;
b1  = 1.56e+001;

% ---------------------------
alp2  = J2 + m2*l2^2;
alp3  = m2*L1*l2;
alp4  = (m1*l1 + m2*L1)*g;
alp5  = m2*l2*g;


