function [sys,x0,str,ts] = spacemodel(t,x,u,flag)switch flag,case 0,    [sys,x0,str,ts]=mdlInitializeSizes;case 1,    sys=mdlDerivatives(t,x,u);case 3,    sys=mdlOutputs(t,x,u);case {2,4,9}    sys=[];otherwise    error(['Unhandled flag = ',num2str(flag)]);endfunction [sys,x0,str,ts]=mdlInitializeSizessizes = simsizes;sizes.NumContStates  = 2;sizes.NumDiscStates  = 0;sizes.NumOutputs     = 2;sizes.NumInputs      = 1;sizes.DirFeedthrough = 0;sizes.NumSampleTimes = 1;sys = simsizes(sizes);x0  = [0;1];str = [];ts  = [0 0];function sys=mdlDerivatives(t,x,u)g=9.8;m=1.0;l=1.25;d=2.0;I=4/3*m*l^2;q=x(1);dq=x(2);tol=u(1);dk=rand(1)*sin(t);S=inv(I)*(tol+dk-m*g*l*cos(q)-d*dq);sys(1)=x(2);sys(2)=S;function sys=mdlOutputs(t,x,u)sys(1)=x(1);   %Angle:qsys(2)=x(2);   %Angle speed:dq