function sn = pend_sim(s,F,dt)%  Simulates pendulum%  Copyright (c) The University of Texas at Austinl = 0.5;	M = 0.75;dyn_fr = 0.1;  %Dynamic frictiong = 9.81;F = F - dyn_fr*s(2);t(2) = s(2) + dt*(F-M*g*sin(s(1)))/(l*M);t(1) = s(1) + dt*s(2);  %t(1)=rem(t(1),2*pi);sn = t';