function dy=myfun(t,y)
% % % global kesi e w 
% % % dy=zeros(2,1);
% % % dy(1)=y(2);
% % % dy(2)=1+3*w*w*sin(w*t)-(y(1)<-1)*(2*kesi*y(2)+(y(1)+1)*(1+e*cos(w*t)))-...
% % %        (-1<=y(1)<=1)*2*kesi*y(2)-(y(1)>1)*(2*kesi*y(2)+(y(1)-1)*(1+e*cos(w*t)));
   
global  Tm Ta  J1 J2 wa wn kesi  b r1 r2 rn km wen
dy=zeros(2,1);
dy(1)=y(2);
dy(2)=Tm/r1/km/b-Ta/r2/km/b*J1*r2*r2/(J1*r2*r2+J2*r1*r1)*sin(wen*3*t)-2*(-1/6250/pi/pi*wen*wen*rn/b*cos(wen*t))...
    -(y(1)>1)*(2*kesi*y(2)+y(1)-1)-(-1<=y(1)<=1)*2*kesi*y(2)*0-(y(1)<-1)*(2*kesi*y(2)+y(1)+1);