tempP=[];
for k = 1:4785
P = [y(k);ydot(k);tetha(k);tethadot(k)];
tempP = [tempP P];
end
net= newff([-2 2;-2 2;-2 2;-2 2],[30 1],{'tansig','purelin'},'trainlm');
net.trainParam.epochs = 200;
net = train(net,tempP,u(1:4785)');