©
-1
-0.5
0
0.5
1
1.5
0 1 2 3 4
©
-2
0
2
4
0 0.1 0.2
x1
x2
-10
-5
0
5
10
15
0 1 2 3 4
©
-30
-20
-10
0
10
20
30
0 1 2 3 4 5
RK4 Analytical ODE45
ODE23s ODE23tb
©
0
0.2
0.4
0.6
0.8
1
1.2
0 1 2 3 4 5
Implicit numerical
Analytical
Implicit numerical
Analytical
0
0.2
0.4
0.6
0.8
1
1.2
0 1 2 3 4 5
