root/applications/dual/SIDP/SIDPS/motor_sidps/get_next.m @ 1305

function [x1 y]=get_next(system,x,u,seed)
A=[system.a 0 system.b*sin(x(4)) 0
   0 system.a -system.b*cos(x(4)) 0 
   -system.e*sin(x(4)) system.e*cos(x(4)) system.d 0
   0 0 system.deltat 1];
x1=A*x+ system.B*u+sqrt(diag(system.Q)).*seed(1:4);
y=x1([1 2])+sqrt(diag(system.R)).*seed([5 6]);

end