function dudt = pulse(t,u)
L=0.15;
m=0.2;
I=1/12*m*L^2;
x=1;
Impulse=[0;x*1;0;0;0];
D=[3 0 -L*sin(u(3)) -3/2*L*sin(u(4)) -L/2*sin(u(5));0 3 L*cos(u(3)) 3/2*L*cos(u(4)) L/2*cos(u(5));I-m*L*sin(u(3)) m*L*cos(u(3)) m*L^2 3*m*L^2/4*cos(u(4)-u(3)) m*L^2/4*cos(u(5)-u(3));-3/2*m*L*sin(u(4)) 3/2*m*L*cos(u(4)) 3/4*m*L^2*cos(u(4)-u(3)) I+5*m*L^2/4 m*L^2/2*cos(u(5)-u(4));-m*L/2*sin(u(5)) m*L/2*cos(u(5)) m*L^2/4*cos(u(5)-u(3)) m*L^2/2*cos(u(5)-u(4)) I+m*L^2/4]
dudt=inv(D)*Impulse