X00=[0 -500 0]';
N=200;
omega=-0.05;
fai=[1 sin(omega*T)/omega (1-cos(omega*T))/omega^2
    0  cos(omega*T)  sin(omega*T)/omega
    0 -omega*sin(omega*T) cos(omega*T)];
X(:,1)=X00;
for i=2:N+1
    X(:,i)=fai*X(:,i-1);
end