function Tau1 = Tau1(y,vy,Phi,w_1,K2)
Tau1 = zeros(1,1);
state = zeros(4,1);
state = [y;vy;Phi;w_1];
Tau1 = -K2 * state;
D29
function Tau1 = Tau1(y,vy,Phi,w_1,K2)
Tau1 = zeros(1,1);
state = zeros(4,1);
state = [y;vy;Phi;w_1];
Tau1 = -K2 * state;
D29