tempP=[]
for k = 1:440
P = [y(k);ydot(k);tetha(k);tethadot(k)]';
tempP = [tempP P];
end
net = newff([-10 10],[50 4],{'tansig' 'purelin'},'trainlm');
net.trainParam.epochs = 500;
net = train(net,u(1:440)',tempP);