root/applications/dual/vahala/pcrb/fpcrb.m @ 1416

function [var_ome, var_th, var_th2] = fpcrb(model, control, amp, injom, Q, R, T, ref_profile)
    %function for computing PCRB of PMSM model
       

    %   machine parameters
    Rs = 0.28;
    Ls = 0.003465;
    psipm = 0.1989;
    B = 0;
    TL = 0;
    kp = 1.5;
    pp = 4.0;
    J = 0.04;

    dt = 0.000125;

    Lq = 1.0*Ls;
    Ld = 0.9*Ls;

    %aliases
    kpp = kp*pp*pp;
    kppj = kpp/J;
    psi = psipm;

    a = 0.9898;
    b = 0.0072;
    c = 0.0361;
    d = 1.0;
    e = 0.0149;    

    %reference signal
    ref_ome = zeros(1, T);  
    for k = 1:T,
           index = floor(k*dt);
           if(index>0)
               lower = ref_profile(index);
           else
               lower = 0;
           end
           if(index<T*dt)
               upper = ref_profile(index+1);
           else
               upper = 0;
           end
           ref_ome(k) = lower + (upper-lower)*dt*(k-index/dt);
    end



    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %   system variables

    %system state and control
    x_sys = zeros(4, T);     
    u_dq = zeros(2, T);

    %covariance alternatives
    Q4 = Q;
    Q5 = zeros(5);
    Q5(1:4,1:4) = Q;
    Q5(5,5) = Q(4,4);
    q1 = Q4(1,1);
    q2 = Q4(2,2);
    q3 = Q4(3,3);
    q4 = Q4(4,4);
    q5 = Q5(5,5);
    iQ4 = inv(Q4);
    iQ5 = inv(Q5);
    iR = inv(R);
    e05q4 = exp(-1/2*q4);
    e2q4 = exp(-2*q4);
    e92q4 = exp(-9/2*q4);
    e4q4 = exp(4*q4);
    e8q4 = exp(-8*q4);
    e6q4 = exp(6*q4);

    %PCRB J matrices
    if(model(1) == 1)
        iJn1 = zeros(2,T);
        Jj1 = inv(Q4);
    end
    if(model(2) == 1)
        iJn2 = zeros(2,T);
        Jj2 = inv(Q4);
    end
    if(model(3) == 1)
        iJn3 = zeros(3,T);
        Jj3 = inv(Q5);
    end
    if(model(4) == 1)
        iJn4 = zeros(2,T);
        Jj4 = inv(Q4);
    end
    if(model(5) == 1)
        iJn5 = zeros(2,T);
        Jj5 = inv(Q4);
    end
    if(model(6) == 1)
        iJn6 = zeros(3,T);
        Jj6 = inv(Q5);
    end
    if(model(7) == 1)
        iJn7 = zeros(2,T);
        Jj7 = inv(Q4);
    end
    if(model(8) == 1)
        iJn8 = zeros(2,T);
        Jj8 = inv(Q4);
    end
    if(model(9) == 1)
        iJn9 = zeros(3,T);
        Jj9 = inv(Q5);
    end
    if(model(10) == 1)
        iJn10 = zeros(2,T);
        Jj10 = inv(Q4);
    end
    if(model(11) == 1)
        iJn11 = zeros(2,T);
        Jj11 = inv(Q4);
    end
    if(model(12) == 1)
        iJn12 = zeros(3,T);
        Jj12 = inv(Q5);   
    end
    

    %PI control
    sum_iq = 0;
    sum_ud = 0;
    sum_uq = 0;
    kon_pi = 30.0;
    kon_ii = 0.0;
    kon_pu = 20.0;
    kon_iu = 0.0;

    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %   init

    % measurement function derivatives
    C4 = zeros(2,4);
    C4(1,1) = 1.0;
    C4(2,2) = 1.0;

    C5 = zeros(2,5);
    C5(1,1) = 1.0;
    C5(2,2) = 1.0;

    % system function derivatives
        %alpha-beta, equal Ls
    A14 = zeros(4);
    A14(1,1) = a;
    A14(2,2) = a;
    A14(3,3) = d;
    A14(4,3) = dt;
    A14(4,4) = 1.0;
    A4 = zeros(4);
        %d-q, equal Ls
    A25 = zeros(4);
    A25(1,1) = a;
    A25(2,2) = a;
    A25(2,3) = -b;
    A25(3,2) = e;
    A25(3,3) = d;
    A25(4,3) = dt;
    A25(4,4) = 1.0;
        %5sc, equal Ls
    A36 = zeros(5);
    A36(1,1) = a;
    A36(2,2) = a;
    A36(3,3) = d;
    A36(4,4) = 1.0;
    A36(5,5) = 1.0;
        %alpha-beta, Ldq
    A70 = zeros(4);
    % A70(4,4) = 1.0;
    % A70(5,5) = 1.0;
        %d-q, Ldq
    A81 = zeros(4);
    A81(1,1) = 1.0 - Rs*dt/Ld;
    A81(2,2) = 1.0 - Rs*dt/Lq;
    A81(3,3) = 1-B*dt/J;
    A81(4,3) = dt;
    A81(4,4) = 1.0;
        %5sc, Ldq
    A92 = zeros(5);
    A92(4,4) = 1.0;
    A92(5,5) = 1.0;


    %expectation corrections
        %cor. 2 -> 5
    D11_cor5 = diag([dt^2*q3/q2, dt^2*q3/q1, dt^2*q1/q2 + dt^2*q2/q1, 0.0]);
        %cor. 3 -> 6
    D11_cor6 = diag([e^2*q4/q3,...
                    e^2*q5/q3,...
                    b^2*q5/q2 + dt^2*q5/q4 + b^2*q4/q1 + dt^2*q4/q5,...
                    e^2*q1/q3 + b^2*q3/q1 + dt^2*q3/q5,...
                    e^2*q2/q3 + b^2*q3/q2 + dt^2*q3/q4]);
        %cor. 8 -> 11
    D11_cor11 = diag([Ld^2/Lq^2*dt^2*q3/q2 + dt^2*kp^2*pp^4*(Ld-Lq)^2*q2/J^2/q3,...
                      Lq^2/Ld^2*dt^2*q3/q1 + dt^2*kp^2*pp^4*(Ld-Lq)^2*q1/J^2/q3,...
                      Lq^2/Ld^2*dt^2*q2/q1 + Ld^2/Lq^2*dt^2*q1/q2, 0.0]);

    % new figure              
    figure;

    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %   main loop

    for t = 1:T-1,
        %aliases
        ial = x_sys(1, t);
        ibe = x_sys(2, t);
        ome = x_sys(3, t);
        the = x_sys(4, t); 

        ia = ial;
        ib = ibe;

        st = sin(the);
        ct = cos(the);

        id = ial*cos(the) + ibe*sin(the);
        iq = ibe*cos(the) - ial*sin(the);

        hia     = ial;
        hib     = ibe;
        hom     = ome;
        sht     = sin(the);
        cht     = cos(the);
        sh2t = sin(2*the);
        ch2t = cos(2*the);
        sh3t = sin(3*the);
        ch3t = cos(3*the);
        ch4t = cos(4*the);    

        %PCRB models
        if(model(1) == 1) %al-be/nE/Ls
            A14(1,3) = b*sin(the);
            A14(1,4) = b*ome*cos(the);
            A14(2,3) = -b*cos(the);
            A14(2,4) = b*ome*sin(the);
            A14(3,1) = -e*sin(the);
            A14(3,2) = e*cos(the);
            A14(3,4) = -e*(ial*cos(the)+ibe*sin(the));

            D11 = A14'*iQ4*A14;
            D12 = -A14'*iQ4;
            D21 = D12';
            D22 = iQ4 + C4'*iR*C4;

            Jj1 = D22 - D21/(Jj1 + D11)*D12;
            tmp = inv(Jj1);        
            iJn1(1,t) = tmp(3,3);
            iJn1(2,t) = tmp(4,4);
        end
        if(model(2) == 1) %d-q/nE/Ls
            A25(1,2) = dt*ome;
            A25(1,3) = dt*iq;
            A25(2,1) = -dt*ome;
            A25(2,3) = -dt*id-b;

            D11 = A25'*iQ4*A25;
            D12 = -A25'*iQ4;
            D21 = D12';
            D22 = iQ4 + C4'*iR*C4;    

            Jj2 = D22 - D21/(Jj2 + D11)*D12;           
            tmp = inv(Jj2);        
            iJn2(1,t) = tmp(3,3);
            iJn2(2,t) = tmp(4,4);
        end
        if(model(3) == 1) %5sc/nE/Ls
            A36(1,3) = b*sin(the);
            A36(1,4) = b*ome;
            A36(2,3) = -b*cos(the);
            A36(2,5) = -b*ome;
            A36(3,1) = -e*sin(the);
            A36(3,2) = e*cos(the);
            A36(3,4) = -e*ial;
            A36(3,5) = e*ibe;
            A36(4,3) = dt*cos(the);
            A36(4,5) = dt*ome;
            A36(5,3) = -dt*sin(the);
            A36(5,4) = -dt*ome;

            D11 = A36'*iQ5*A36;    
            D12 = -A36'*iQ5;
            D21 = D12';
            D22 = iQ5 + C5'*iR*C5;

            Jj3 = D22 - D21/(Jj3 + D11)*D12;
            tmp = inv(Jj3);        
            iJn3(1,t) = tmp(3,3);
            iJn3(2,t) = tmp(4,4);
            iJn3(3,t) = tmp(5,5);
        end
        if(model(4) == 1) %al-be/E/Ls
            D11 = zeros(4);
            D11(1, 1) = a^2/q1 + e^2/q3*(1/2 - 1/2*exp(-2*q4)*cos(2*the));
            D11(1, 2) = -e^2/q3*sin(the)*cos(the)*exp(-2*q4);
            D11(1, 3) = (a*b/q1 - d*e/q3)*sin(the)*exp(-1/2*q4);
            D11(1, 4) = e^2/q3*(ial*sin(the)*cos(the)*exp(-2*q4) + ibe*(1/2 - 1/2*exp(-2*q4)*cos(2*the)))...
                        + a*b/q1*ome*cos(the)*exp(-1/2*q4);
            D11(2, 1) = D11(1, 2);
            D11(2, 2) = a^2/q2 + e^2/q3*(1/2 + 1/2*exp(-2*q4)*cos(2*the));
            D11(2, 3) = (d*e/q3 - a*b/q2)*cos(the)*exp(-1/2*q4);
            D11(2, 4) = a*b/q2*ome*sin(the)*exp(-1/2*q4)...
                        - e^2/q3*(ial*(1/2 + 1/2*exp(-2*q4)*cos(2*the)) + ibe*sin(the)*cos(the)*exp(-2*q4));
            D11(3, 1) = D11(1, 3);
            D11(3, 2) = D11(2, 3);
            D11(3, 3) = d^2/q3 + dt^2/q4 + b^2/q2*(1/2 + 1/2*exp(-2*q4)*cos(2*the))...
                        + b^2/q1*(1/2 - 1/2*exp(-2*q4)*cos(2*the));
            D11(3, 4) = dt/q4 - d*e/q3*(ial*cos(the)*exp(-1/2*q4) + ibe*sin(the)*exp(-1/2*q4))...
                        + b^2/q1*ome*sin(the)*cos(the)*exp(-2*q4) - b^2/q2*ome*sin(the)*cos(the)*exp(-2*q4);
            D11(4, 1) = D11(1, 4);
            D11(4, 2) = D11(2, 4);
            D11(4, 3) = D11(3, 4);
            D11(4, 4) = 1/q4 + e^2/q3*((q1 + ial^2)*(1/2 + 1/2*exp(-2*q4)*cos(2*the))...
                        + 2*ial*ibe*sin(the)*cos(the)*exp(-2*q4)...
                        + (q2 + ibe^2)*(1/2 - 1/2*exp(-2*q4)*cos(2*the)))...
                        + b^2/q2*(q3 + ome^2)*(1/2 - 1/2*exp(-2*q4)*cos(2*the))...
                        + b^2/q1*(q3 + ome^2)*(1/2 + 1/2*exp(-2*q4)*cos(2*the));

            A4(1,1) = a;
            A4(1,2) = 0.0;
            A4(1,3) = b*sin(the)*exp(-1/2*q4);
            A4(1,4) = b*ome*cos(the)*exp(-1/2*q4);
            A4(2,1) = 0.0;
            A4(2,2) = a;
            A4(2,3) = -b*cos(the)*exp(-1/2*q4);
            A4(2,4) = b*ome*sin(the)*exp(-1/2*q4);
            A4(3,1) = -e*sin(the)*exp(-1/2*q4);
            A4(3,2) = e*cos(the)*exp(-1/2*q4);
            A4(3,3) = d;
            A4(3,4) = -e*(ial*cos(the)*exp(-1/2*q4) + ibe*sin(the)*exp(-1/2*q4));
            A4(4,1) = 0.0;
            A4(4,2) = 0.0;
            A4(4,3) = dt;
            A4(4,4) = 1.0;

            D12 = -A4'*iQ4;
            D21 = D12';
            D22 = iQ4 + C4'*iR*C4;

            Jj4 = D22 - D21/(Jj4 + D11)*D12;
            tmp = inv(Jj4);        
            iJn4(1,t) = tmp(3,3);
            iJn4(2,t) = tmp(4,4);
        end
        if(model(5) == 1) %d-q/E/Ls
            A25(1,2) = dt*ome;
            A25(1,3) = dt*iq;
            A25(2,1) = -dt*ome;
            A25(2,3) = -dt*id-b;

            D11 = A25'*iQ4*A25 + D11_cor5;
            D12 = -A25'*iQ4;
            D21 = D12';
            D22 = iQ4 + C4'*iR*C4;    

            Jj5 = D22 - D21/(Jj5 + D11)*D12;
            tmp = inv(Jj5);        
            iJn5(1,t) = tmp(3,3);
            iJn5(2,t) = tmp(4,4);
        end
        if(model(6) == 1) %5sc/E/Ls
            A36(1,3) = b*sin(the);
            A36(1,4) = b*ome;
            A36(2,3) = -b*cos(the);
            A36(2,5) = -b*ome;
            A36(3,1) = -e*sin(the);
            A36(3,2) = e*cos(the);
            A36(3,4) = -e*ial;
            A36(3,5) = e*ibe;
            A36(4,3) = dt*cos(the);
            A36(4,5) = dt*ome;
            A36(5,3) = -dt*sin(the);
            A36(5,4) = -dt*ome;

            D11 = A36'*iQ5*A36 + D11_cor6;    
            D12 = -A36'*iQ5;
            D21 = D12';
            D22 = iQ5 + C5'*iR*C5;

            Jj6 = D22 - D21/(Jj6 + D11)*D12;
            tmp = inv(Jj6);        
            iJn6(1,t) = tmp(3,3);
            iJn6(2,t) = tmp(4,4);
            iJn6(3,t) = tmp(5,5);
        end
        if(model(7) == 1) %al-be/nE/Ldq        
            A70 = [[ (Lq - Rs*dt*sin(the)^2)/Lq - (dt*ome*sin(the)*Lq^2*cos(the) + Rs*dt*Lq*cos(the)^2)/(Ld*Lq) + (Ld*dt*ome*cos(the)*sin(the))/Lq,                                       (dt*(Ld - Lq)*(- Lq*ome*cos(the)^2 + Rs*cos(the)*sin(the) + Ld*ome*sin(the)^2))/(Ld*Lq),    dt*cos(the)*(ia*sin(the) - ib*cos(the) + (Lq*(ib*cos(the) - ia*sin(the)))/Ld) + dt*sin(the)*(psi/Lq - ia*cos(the) - ib*sin(the) + (Ld*(ia*cos(the) + ib*sin(the)))/Lq),                                               (dt*(ome*psi*cos(the) + Rs*ib*cos(2*the) - Rs*ia*sin(2*the)))/Lq + (Ld*dt*(ia*ome*cos(2*the) + ib*ome*sin(2*the)))/Lq - (dt*(Lq^2*ia*ome*cos(2*the) + Lq^2*ib*ome*sin(2*the) + Lq*Rs*ib*cos(2*the) - Lq*Rs*ia*sin(2*the)))/(Ld*Lq)];...
                    [                                       (dt*(Ld - Lq)*(- Ld*ome*cos(the)^2 + Rs*cos(the)*sin(the) + Lq*ome*sin(the)^2))/(Ld*Lq), (Lq - Rs*dt*cos(the)^2)/Lq - (Lq*Rs*dt*sin(the)^2 - Lq^2*dt*ome*cos(the)*sin(the))/(Ld*Lq) - (Ld*dt*ome*cos(the)*sin(the))/Lq, (dt*(Lq*ia - psi*cos(the)))/Lq + (dt*((Lq^2*ia*cos(2*the))/2 - (Lq^2*ia)/2 + (Lq^2*ib*sin(2*the))/2))/(Ld*Lq) - (Ld*dt*(ia/2 + (ia*cos(2*the))/2 + (ib*sin(2*the))/2))/Lq, (dt*ome*psi*sin(the) - Rs*dt*ia*(2*sin(the)^2 - 1) + Rs*dt*ib*sin(2*the))/Lq + (Ld*(dt*ib*ome*(2*sin(the)^2 - 1) + dt*ia*ome*sin(2*the)))/Lq - (Lq*Rs*dt*ib*sin(2*the) + Lq^2*dt*ib*ome*(2*sin(the)^2 - 1) + Lq^2*dt*ia*ome*sin(2*the) - Lq*Rs*dt*ia*(2*sin(the)^2 - 1))/(Ld*Lq)];...
                    [     -dt*kppj*(psi*sin(the) - cos(the)*(Ld - Lq)*(ib*cos(the) - ia*sin(the)) + sin(the)*(Ld - Lq)*(ia*cos(the) + ib*sin(the))),      dt*kppj*(psi*cos(the) + cos(the)*(Ld - Lq)*(ia*cos(the) + ib*sin(the)) + sin(the)*(Ld - Lq)*(ib*cos(the) - ia*sin(the))),                                                                                                                                                                         1.0,                                                                                                                                                   -dt*kppj*(psi*(ia*cos(the) + ib*sin(the)) + (Ld - Lq)*(ia*cos(the) + ib*sin(the))^2 - (Ld - Lq)*(ib*cos(the) - ia*sin(the))^2)];...
                    [                                                                                                                             0.0,                                                                                                                             0.0,                                                                                                                                                                        dt,                                                                                                                                                                                                                                                                                1.0]];

            D11 = A70'*iQ4*A70;
            D12 = -A70'*iQ4;
            D21 = D12';
            D22 = iQ4 + C4'*iR*C4;

            Jj7 = D22 - D21/(Jj7 + D11)*D12;
            tmp = inv(Jj7);        
            iJn7(1,t) = tmp(3,3);
            iJn7(2,t) = tmp(4,4);        
        end
        if(model(8) == 1) %d-q/nE/Ldq
            A81(1,2) = Lq*dt/Ld*ome;
            A81(1,3) = Lq*dt/Ld*iq;
            A81(2,1) = -Ld*dt/Lq*ome;
            A81(2,3) = -Ld*dt/Lq*id-psipm*dt/Lq;
            A81(3,1) = kp*pp*pp*dt*(Ld-Lq)/J*iq;
            A81(3,2) = kp*pp*pp*dt/J*((Ld-Lq)*id+psipm);    

            D11 = A81'*iQ4*A81;
            D12 = -A81'*iQ4;
            D21 = D12';
            D22 = iQ4 + C4'*iR*C4;

            Jj8 = D22 - D21/(Jj8 + D11)*D12;
            tmp = inv(Jj8);        
            iJn8(1,t) = tmp(3,3);
            iJn8(2,t) = tmp(4,4);
        end
        if(model(9) == 1) %5sc/nE/Ldq        
            A92(1, 1) = 1.0 + dt*(-Rs*(st^2/Lq + ct^2/Ld) + ome*st*ct*(Ld/Lq - Lq/Ld));
            A92(1, 2) = dt*(-ome + Rs*st*ct*(1/Lq - 1/Ld) + ome*(Ld*st^2/Lq + Lq*ct^2/Ld));
            A92(1, 3) = dt*psi*st/Lq + dt*ial*st*ct*(Ld/Lq - Lq/Ld) + dt*ibe*(-1 + Ld/Lq*st^2 + Lq/Ld*ct^2);
            A92(1, 4) = dt*psi*ome/Lq + dt*ial*(-Rs*2*st/Lq + ome*ct*(Ld/Lq - Lq/Ld)) + dt*ibe*(Rs*ct*(1/Lq - 1/Ld) + ome*2*Ld*st/Lq);
            A92(1, 5) = dt*ial*(-Rs*2*ct/Ld + ome*st*(Ld/Lq - Lq/Ld)) + dt*ibe*(Rs*st*(1/Lq - 1/Ld) + ome*2*Lq*ct/Ld);

            A92(2, 1) = dt*(ome + Rs*st*ct*(1/Lq - 1/Ld) - ome*(Lq*st^2/Ld + Ld*ct^2/Lq));
            A92(2, 2) = 1 + dt*(-Rs*(st^2/Ld + ct^2/Lq) + ome*st*ct*(Lq/Ld - Ld/Lq));
            A92(2, 3) = -dt*psi*ct/Lq + dt*ial*(1 - Lq*st^2/Ld - Ld*ct^2/Lq) + dt*ibe*st*ct*(Lq/Ld - Ld/Lq);
            A92(2, 4) = dt*ial*(Rs*ct*(1/Lq - 1/Ld) - ome*2*Lq*st/Ld) + dt*ibe*(-Rs*2*st/Ld + ome*ct*(Lq/Ld - Ld/Lq));
            A92(2, 5) = -dt*psi*ome/Lq + dt*ial*(Rs*st*(1/Lq - 1/Ld) -ome*2*Ld*ct/Lq) + dt*ibe*(-Rs*2*ct/Lq + ome*st*(Lq/Ld - Ld/Lq));

            A92(3, 1) = dt*kpp/J*((Ld - Lq)*(-2*ial*st*ct + ibe*ct^2 - ibe*st^2) - psi*st);
            A92(3, 2) = dt*kpp/J*((Ld - Lq)*(ial*ct^2 - ial*st^2 + 2*ibe*st*ct) + psi*ct);
            A92(3, 3) = 1;
            A92(3, 4) = dt*kpp/J*((Ld - Lq)*(-ial^2*ct - ial*ibe*2*st + ibe^2*ct) - psi*ial);
            A92(3, 5) = dt*kpp/J*((Ld - Lq)*(-ial^2*st + ial*ibe*2*ct + ibe^2*st) + psi*ibe);

            A92(4,3) = dt*cos(the);
            A92(4,5) = dt*ome;
            A92(5,3) = -dt*sin(the);
            A92(5,4) = -dt*ome;

            D11 = A92'*iQ5*A92;
            D12 = -A92'*iQ5;
            D21 = D12';
            D22 = iQ5 + C5'*iR*C5;

            Jj9 = D22 - D21/(Jj9 + D11)*D12;
            tmp = inv(Jj9);        
            iJn9(1,t) = tmp(3,3);
            iJn9(2,t) = tmp(4,4);
            iJn9(3,t) = tmp(5,5);
        end
        if(model(10) == 1) %al-be/E/Ldq
            A70 = [[ (Lq - Rs*dt*1/2*(1 - e2q4*ch2t))/Lq - (dt*hom*sht*e05q4*Lq^2*cht*e05q4 + Rs*dt*Lq*1/2*(1 + e2q4*ch2t))/(Ld*Lq) + (Ld*dt*hom*sht*cht*e2q4)/Lq,                                       (dt*(Ld - Lq)*(- Lq*hom*1/2*(1 + e2q4*ch2t) + Rs*sht*cht*e2q4 + Ld*hom*1/2*(1 - e2q4*ch2t)))/(Ld*Lq),    dt*cht*e05q4*(hia*sht*e05q4 - hib*cht*e05q4 + (Lq*(hib*cht*e05q4 - hia*sht*e05q4))/Ld) + dt*sht*e05q4*(psi/Lq - hia*cht*e05q4 - hib*sht*e05q4 + (Ld*(hia*cht*e05q4 + hib*sht*e05q4))/Lq),                                               (dt*(hom*psi*cht*e05q4 + Rs*hib*ch2t*e2q4 - Rs*hia*sh2t*e2q4))/Lq + (Ld*dt*(hia*hom*ch2t*e2q4 + hib*hom*sh2t*e2q4))/Lq - (dt*(Lq^2*hia*hom*ch2t*e2q4 + Lq^2*hib*hom*sh2t*e2q4 + Lq*Rs*hib*ch2t*e2q4 - Lq*Rs*hia*sh2t*e2q4))/(Ld*Lq)];...
                    [                                       (dt*(Ld - Lq)*(- Ld*hom*1/2*(1 + e2q4*ch2t) + Rs*sht*cht*e2q4 + Lq*hom*1/2*(1 - e2q4*ch2t)))/(Ld*Lq), (Lq - Rs*dt*1/2*(1 + e2q4*ch2t))/Lq - (Lq*Rs*dt*1/2*(1 - e2q4*ch2t) - Lq^2*dt*hom*sht*cht*e2q4)/(Ld*Lq) - (Ld*dt*hom*sht*cht*e2q4)/Lq, (dt*(Lq*hia - psi*cht*e05q4))/Lq + (dt*((Lq^2*hia*ch2t*e2q4)/2 - (Lq^2*hia)/2 + (Lq^2*hib*sh2t*e2q4)/2))/(Ld*Lq) - (Ld*dt*(hia/2 + (hia*ch2t*e2q4)/2 + (hib*sh2t*e2q4)/2))/Lq, (dt*hom*psi*sht*e05q4 - Rs*dt*hia*(2*1/2*(1 - e2q4*ch2t) - 1) + Rs*dt*hib*sh2t*e2q4)/Lq + (Ld*(dt*hib*hom*(2*1/2*(1 - e2q4*ch2t) - 1) + dt*hia*hom*sh2t*e2q4))/Lq - (Lq*Rs*dt*hib*sh2t*e2q4 + Lq^2*dt*hib*hom*(2*1/2*(1 - e2q4*ch2t) - 1) + Lq^2*dt*hia*hom*sh2t*e2q4 - Lq*Rs*dt*hia*(2*1/2*(1 - e2q4*ch2t) - 1))/(Ld*Lq)];...
                    [     -dt*kppj*(psi*sht*e05q4 - cht*e05q4*(Ld - Lq)*(hib*cht*e05q4 - hia*sht*e05q4) + sht*e05q4*(Ld - Lq)*(hia*cht*e05q4 + hib*sht*e05q4)),      dt*kppj*(psi*cht*e05q4 + cht*e05q4*(Ld - Lq)*(hia*cht*e05q4 + hib*sht*e05q4) + sht*e05q4*(Ld - Lq)*(hib*cht*e05q4 - hia*sht*e05q4)),                                                                                                                                                                         1.0,                                                                                                                                                   -dt*kppj*(psi*(hia*cht*e05q4 + hib*sht*e05q4) + (Ld - Lq)*(hia*cht*e05q4 + hib*sht*e05q4)^2 - (Ld - Lq)*(hib*cht*e05q4 - hia*sht*e05q4)^2)];...
                    [                                                                                                                             0.0,                                                                                                                             0.0,                                                                                                                                                                        dt,                                                                                                                                                                                                                                                                                1.0]];

            D11 = zeros(4);
            D11(1,1) = 1/q1 + (dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q2 + (dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q2 - (2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 + (4*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 + (Rs^2*dt^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Rs^2*dt^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (2*Rs*dt*1/2*(1 + e2q4*ch2t))/(Ld*q1) + (dt^2*kppj^2*psi^2*1/2*(1 - e2q4*ch2t))/q3 - (2*Rs*dt*1/2*(1 - e2q4*ch2t))/(Lq*q1) - (2*Lq*dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (Ld^2*dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) + (Lq^2*dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld*dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) + (2*Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (2*Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (2*Ld*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (2*Lq*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld*q2) - (2*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) - (2*Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) + (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (4*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) - (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (4*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) + (Lq^2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (4*Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Ld*dt*hom*sht*cht*e2q4)/(Lq*q1) - (2*Lq*dt*hom*sht*cht*e2q4)/(Ld*q1) + (4*Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (2*Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (4*Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (2*Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (4*Ld^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Ld^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (4*Lq^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Lq^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (8*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Ld*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (2*Lq*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (2*Ld*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (2*Lq*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (8*Ld*Lq*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (8*Ld*Lq*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3;
            D11(1,2) = (dt*hom*1/2*(1 + e2q4*ch2t))/q2 - (dt*hom*1/2*(1 + e2q4*ch2t))/q1 - (dt*hom*1/2*(1 - e2q4*ch2t))/q1 + (dt*hom*1/2*(1 - e2q4*ch2t))/q2 - (dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (Lq*dt*hom*1/2*(1 + e2q4*ch2t))/(Ld*q1) - (Ld*dt*hom*1/2*(1 + e2q4*ch2t))/(Lq*q2) + (Ld*dt*hom*1/2*(1 - e2q4*ch2t))/(Lq*q1) - (Lq*dt*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (dt^2*kppj^2*psi^2*sht*cht*e2q4)/q3 - (Rs*dt*sht*cht*e2q4)/(Ld*q1) - (Rs*dt*sht*cht*e2q4)/(Ld*q2) + (Rs*dt*sht*cht*e2q4)/(Lq*q1) + (Rs*dt*sht*cht*e2q4)/(Lq*q2) + (Rs^2*dt^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Rs^2*dt^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Rs^2*dt^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Rs^2*dt^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (Rs*dt^2*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (Rs*dt^2*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (Rs*dt^2*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (Rs*dt^2*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (Rs^2*dt^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q1) - (Rs^2*dt^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q1) - (Rs^2*dt^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q2) + (Rs^2*dt^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q2) + (Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (Lq^2*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld^2*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Lq^2*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (Ld^2*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (2*Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (2*Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (2*Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (Ld^2*dt^2*hia*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*hia*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*hia*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*hia*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (Ld*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (Lq*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (Lq*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Ld*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) - (Ld*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) + (Lq*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) + (Lq*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) - (Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Ld*q2) - (Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) + (Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (Lq*Rs*dt^2*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld*Rs*dt^2*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) - (Ld*Rs*dt^2*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) - (3*Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (3*Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (3*Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (3*Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (Ld*Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (Lq*Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (4*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (4*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (4*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld*Lq*dt^2*hia*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*hia*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (6*Ld^2*dt^2*hia*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (6*Lq^2*dt^2*hia*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (12*Ld*Lq*dt^2*hia*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3;
            D11(1,3) = (3*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(2*q2) - (dt*hib*1/2*(1 - e2q4*ch2t))/q1 - (dt*hib*1/2*(1 + e2q4*ch2t))/q1 - (dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*q2) + (3*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(2*q2) - (dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*q2) - (dt*kppj*psi*sht*e05q4)/q3 + (dt*psi*sht*e05q4)/(Lq*q1) + (Lq*dt*hib*1/2*(1 + e2q4*ch2t))/(Ld*q1) + (Ld*dt*hib*1/2*(1 - e2q4*ch2t))/(Lq*q1) - (2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/q1 + (dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/q2 + (Rs*dt^2*hib*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (Rs*dt^2*hib*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (Rs*dt^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) - (dt^2*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq*q2) - (dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (Ld*dt*hib*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Lq*dt*hib*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Ld*dt*hib*kppj*1/2*(1 - e2q4*ch2t))/q3 + (Lq*dt*hib*kppj*1/2*(1 - e2q4*ch2t))/q3 + (Ld*dt^2*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q2) - (Ld*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(2*Lq*q2) - (3*Lq*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(2*Ld*q2) + (Ld*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq*q2) - (Lq*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld*q2) - (3*Rs*dt^2*hia*sht*cht*e2q4)/(2*Ld*q2) + (3*Rs*dt^2*hia*sht*cht*e2q4)/(2*Lq*q2) + (Ld^2*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) + (Ld^2*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq^2*q2) + (Lq^2*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) + (Lq^2*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld^2*q2) - (2*Ld*dt*hia*kppj*sht*cht*e2q4)/q3 + (2*Lq*dt*hia*kppj*sht*cht*e2q4)/q3 + (Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Ld*q2) + (Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Ld*q2) - (Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) - (Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Lq*q2) + (Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Lq*q2) - (Rs*dt^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2) - (dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q1) + (dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq*q2) + (Ld*dt*hia*sht*cht*e2q4)/(Lq*q1) - (Lq*dt*hia*sht*cht*e2q4)/(Ld*q1) + (Rs*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld*q2) + (Rs*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (Lq*Rs*dt^2*hib*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*hib*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (3*Ld*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(2*Lq*q2) - (Lq*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(2*Ld*q2) - (Ld*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq*q2) + (Lq*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld*q2) - (Ld*Rs*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (Lq*Rs*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Rs*dt^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q1) + (Rs*dt^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q2) - (Lq^2*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld^2*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Lq^2*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (Ld^2*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (Ld*Rs*dt^2*hia*sht*cht*e2q4)/(2*Lq^2*q2) + (Lq*Rs*dt^2*hia*sht*cht*e2q4)/(2*Ld^2*q2) + (Lq^2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (Lq^2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(2*Ld^2*q2) - (Ld^2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(2*Lq^2*q2) - (Ld*Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Lq*Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld*Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Lq^2*q2) - (Ld*Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Lq^2*q2) + (Lq*Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Ld^2*q2) - (Lq*Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Ld^2*q2) - (Ld*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (Ld*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (Lq*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (Lq*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Ld*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) - (Ld*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) + (Lq*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) + (Lq*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (Ld*dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1);
            D11(1,4) = (dt^2*hib*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/q2 - (dt^2*hib*(hom^2 + q3)*1/2*(1 + e2q4*ch2t))/q2 - (2*dt^2*hib*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q2 + (Rs^2*dt^2*hib*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*q2) + (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq*q2) - (Rs*dt*hib*1/2*(1 + e2q4*ch2t))/(Ld*q1) + (Rs*dt*hib*1/2*(1 + e2q4*ch2t))/(Lq*q1) + (dt^2*hib*kppj^2*psi^2*1/2*(1 - e2q4*ch2t))/q3 + (Rs*dt*hib*1/2*(1 - e2q4*ch2t))/(Ld*q1) - (Rs*dt*hib*1/2*(1 - e2q4*ch2t))/(Lq*q1) + (2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 - (2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 - (2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 + (2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (4*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 + (2*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 + (Rs^2*dt^2*hib*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (dt*hom*psi*cht*e05q4)/(Lq*q1) - (Rs*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(Ld*q2) - (Rs*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (2*Rs*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(Lq*q2) - (Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (2*Rs*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (4*Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (Rs*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (2*Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (2*Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld*dt^2*hib*(hom^2 + q3)*1/2*(1 + e2q4*ch2t))/(Lq*q2) + (Lq*dt^2*hib*(hom^2 + q3)*1/2*(1 + e2q4*ch2t))/(Ld*q2) - (2*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld*dt^2*hib*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Lq*q2) + (Lq*dt^2*hib*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (2*Ld*dt^2*hib*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (2*Lq*dt^2*hib*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (Rs^2*dt^2*hia*sht*cht*e2q4)/(Ld^2*q2) + (Rs^2*dt^2*hia*sht*cht*e2q4)/(Lq^2*q2) - (Ld*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 + (2*Ld*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 + (Lq*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (2*Lq*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 + (Ld*dt*hia*hom*1/2*(1 + e2q4*ch2t))/(Lq*q1) - (Lq*dt*hia*hom*1/2*(1 + e2q4*ch2t))/(Ld*q1) - (Rs^2*dt^2*hib*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q1) - (Ld*dt*hia*hom*1/2*(1 - e2q4*ch2t))/(Lq*q1) + (Lq*dt*hia*hom*1/2*(1 - e2q4*ch2t))/(Ld*q1) - (Rs^2*dt^2*hib*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q1) - (2*Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (dt^2*hia*kppj^2*psi^2*sht*cht*e2q4)/q3 + (Ld^2*dt^2*hib*(hom^2 + q3)*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) + (2*Rs*dt*hia*sht*cht*e2q4)/(Ld*q1) - (2*Rs*dt*hia*sht*cht*e2q4)/(Lq*q1) - (Lq^2*dt^2*hib*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) + (2*Lq^2*dt^2*hib*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) + (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq*q2) + (2*Lq^2*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (2*Ld^2*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Ld^2*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (10*Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (10*Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Ld*dt*hib*hom*sht*cht*e2q4)/(Lq*q1) - (2*Lq*dt*hib*hom*sht*cht*e2q4)/(Ld*q1) - (2*Rs^2*dt^2*hia*sht*cht*e2q4)/(Ld*Lq*q2) + (4*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Ld*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (2*Ld*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) - (2*Lq*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (2*Lq*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (3*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (3*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (6*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq*q2) + (Ld*dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) - (Ld*dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2) + (Lq*Rs*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) + (Ld*Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) - (2*Lq*Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (3*Ld*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (2*Ld*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (3*Lq*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (2*Lq*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (Ld*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (Lq*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q1) + (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q1) + (4*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q2) + (Rs*dt^2*hib*hom*sht*cht*e2q4)/(Ld*q2) + (Rs*dt^2*hib*hom*sht*cht*e2q4)/(Lq*q2) + (4*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (Lq^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (Lq^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (Ld^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) + (2*Lq^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (2*Ld^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (2*Ld*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (2*Lq*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld*q2) - (Rs*dt^2*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*Lq*q1) + (6*Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (6*Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (6*Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (6*Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) - (4*Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) + (3*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (6*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (2*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (3*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (4*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) - (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) - (20*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (3*Ld*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (Lq*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (3*Lq*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (4*Lq*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (7*Ld*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (7*Lq*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (3*Ld*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (3*Lq*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (4*Ld*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (2*Lq*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q2) - (12*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (12*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (Ld*Rs*dt^2*hib*hom*sht*cht*e2q4)/(Lq^2*q2) - (Lq*Rs*dt^2*hib*hom*sht*cht*e2q4)/(Ld^2*q2);

            D11(2,1) = D11(1,2);
            D11(2,2) = 1/q2 + (dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 + (4*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 - (2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 + (Rs^2*dt^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) + (Rs^2*dt^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (dt^2*kppj^2*psi^2*1/2*(1 + e2q4*ch2t))/q3 - (2*Rs*dt*1/2*(1 + e2q4*ch2t))/(Lq*q2) - (2*Rs*dt*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (2*Ld*dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Lq^2*dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Lq*dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (2*Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*Ld*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (2*Lq*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (2*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) + (2*Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) + (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (4*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) - (4*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (Lq^2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Ld*dt*hom*sht*cht*e2q4)/(Lq*q2) + (2*Lq*dt*hom*sht*cht*e2q4)/(Ld*q2) - (2*Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (4*Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (2*Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (4*Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (4*Ld^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (4*Ld^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (4*Lq^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (4*Lq^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (4*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (8*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Ld*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (2*Lq*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (2*Lq*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (8*Ld*Lq*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (8*Ld*Lq*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3;
            D11(2,3) = (dt*hia)/q2 + (dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt*kppj*psi*cht*e05q4)/q3 - (dt*psi*cht*e05q4)/(Lq*q2) - (Ld*dt*hia)/(2*Lq*q2) - (Lq*dt*hia)/(2*Ld*q2) - (Ld*dt*hia*1/2*(1 + e2q4*ch2t))/(2*Lq*q2) + (Lq*dt*hia*1/2*(1 + e2q4*ch2t))/(2*Ld*q2) + (Ld*dt*hia*1/2*(1 - e2q4*ch2t))/(2*Lq*q2) - (Lq*dt*hia*1/2*(1 - e2q4*ch2t))/(2*Ld*q2) + (4*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/q1 - (2*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/q2 + (Rs*dt^2*hia*1/2*(1 + e2q4*ch2t))/(2*Ld*q2) - (Rs*dt^2*hia*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld*q2) - (Rs*dt^2*hia*1/2*(1 + e2q4*ch2t))/(Lq*q2) + (Rs*dt^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q2) - (Rs*dt^2*hia*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (Rs*dt^2*hia*1/2*(1 - e2q4*ch2t))/(2*Lq*q2) - (Rs*dt^2*hia*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq*q2) - (dt^2*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq*q1) - (dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (Ld*dt*hia*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Lq*dt*hia*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Ld*dt*hia*kppj*1/2*(1 - e2q4*ch2t))/q3 + (Lq*dt*hia*kppj*1/2*(1 - e2q4*ch2t))/q3 - (2*Ld*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Ld*dt^2*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) + (Lq^2*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (2*Ld*dt*hib*kppj*sht*cht*e2q4)/q3 - (2*Lq*dt*hib*kppj*sht*cht*e2q4)/q3 + (Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (2*Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) - (2*Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (Rs*dt^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) - (dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q2) - (dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq*q1) - (Ld*dt*hib*sht*cht*e2q4)/(Lq*q2) + (Lq*dt*hib*sht*cht*e2q4)/(Ld*q2) - (Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(2*Ld*q2) - (Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Lq*q1) + (Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(2*Lq*q2) + (Ld*Rs*dt^2*hia*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) + (Ld*Rs*dt^2*hia*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq^2*q2) + (Lq*Rs*dt^2*hia*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) + (Lq*Rs*dt^2*hia*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld^2*q2) - (2*Lq*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (Ld*Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(2*Lq^2*q2) - (Lq*Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(2*Ld^2*q2) - (Rs*dt^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q1) + (Rs*dt^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q2) - (Lq^2*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld^2*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (2*Ld*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (2*Lq*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (Lq^2*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Ld^2*q2) + (Lq^2*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Ld^2*q2) - (Ld^2*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Lq^2*q2) + (Ld^2*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Lq^2*q2) - (Ld*dt^2*hia*hom*sht*cht*e2q4)/(Lq*q2) + (Lq*dt^2*hia*hom*sht*cht*e2q4)/(Ld*q2) + (Lq^2*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (Ld*Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Lq*Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld*Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (Lq*Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Ld*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (Ld*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (Lq*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (Lq*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Lq^2*dt^2*hia*hom*sht*cht*e2q4)/(2*Ld^2*q2) + (Ld^2*dt^2*hia*hom*sht*cht*e2q4)/(2*Lq^2*q2) + (Ld*dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2);
            D11(2,4) = (dt^2*hia*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt^2*hia*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 - (Rs*dt*hia)/(Ld*q2) + (Rs*dt*hia)/(Lq*q2) + (Rs^2*dt^2*hia*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) - (2*Rs^2*dt^2*hia*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (dt*hom*psi*sht*e05q4)/(Lq*q2) + (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*q1) - (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq*q1) - (dt^2*hia*kppj^2*psi^2*1/2*(1 + e2q4*ch2t))/q3 + (2*Rs*dt*hia*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (2*Rs*dt*hia*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (4*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (Ld*dt*hib*hom)/(Lq*q2) + (Lq*dt*hib*hom)/(Ld*q2) - (Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 + (4*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 - (2*dt^2*hib*(hom^2 + q3)*sht*cht*e2q4)/q2 - (Rs^2*dt^2*hia*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) + (2*Rs*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (Rs*dt^2*hib*hom*1/2*(1 + e2q4*ch2t))/(Ld*q2) - (Rs*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (2*Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Rs*dt^2*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (2*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (2*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (2*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld*dt^2*hia*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Lq*dt^2*hia*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (2*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld*dt^2*hia*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (Lq*dt^2*hia*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (2*Ld*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (Ld*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (2*Lq*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (Lq*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (Rs^2*dt^2*hia*1/2*(1 + e2q4*ch2t))/(Ld*Lq*q2) + (2*Ld*dt*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*Lq*dt*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (Rs^2*dt^2*hia*1/2*(1 - e2q4*ch2t))/(Ld*Lq*q2) + (2*Rs^2*dt^2*hia*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q2) + (2*Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (dt^2*hib*kppj^2*psi^2*sht*cht*e2q4)/q3 - (Lq^2*dt^2*hia*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (2*Rs*dt*hib*sht*cht*e2q4)/(Ld*q2) + (2*Rs*dt*hib*sht*cht*e2q4)/(Lq*q2) - (Ld^2*dt^2*hia*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq*q1) + (Lq^2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Lq^2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (2*Ld^2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (10*Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (10*Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Ld*dt*hia*hom*sht*cht*e2q4)/(Lq*q2) - (2*Lq*dt*hia*hom*sht*cht*e2q4)/(Ld*q2) + (4*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (2*Ld*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Lq*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (2*Lq*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) + (Lq^2*dt^2*hib*(hom^2 + q3)*sht*cht*e2q4)/(Ld^2*q2) + (Ld^2*dt^2*hib*(hom^2 + q3)*sht*cht*e2q4)/(Lq^2*q2) - (3*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (4*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q2) - (3*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) + (2*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q2) + (Ld*dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) - (Ld*dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) - (Lq*Rs*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld*Rs*dt^2*hib*hom*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) - (Ld*Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (Lq*Rs*dt^2*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) + (2*Lq*Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (2*Ld*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (3*Ld*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (2*Lq*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (3*Lq*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q1) - (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q1) - (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q2) + (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q2) + (Rs*dt^2*hia*hom*sht*cht*e2q4)/(Ld*q2) + (Rs*dt^2*hia*hom*sht*cht*e2q4)/(Lq*q2) + (Ld*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (Lq*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (4*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld^2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (2*Lq^2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (2*Ld^2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) + (6*Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (6*Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (6*Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (6*Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Rs*dt^2*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*Lq*q2) - (2*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (4*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) - (2*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) - (Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (5*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (2*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) + (2*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (5*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) + (Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) - (4*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) - (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2) + (20*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (3*Ld*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (Lq*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (3*Lq*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (4*Lq*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (7*Ld*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (7*Lq*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (3*Ld*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (3*Lq*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (4*Ld*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Lq*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q1) - (12*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (12*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (Ld*Rs*dt^2*hia*hom*sht*cht*e2q4)/(Lq^2*q2) - (Lq*Rs*dt^2*hia*hom*sht*cht*e2q4)/(Ld^2*q2);

            D11(3,1) = D11(1,3);
            D11(3,2) = D11(2,3);
            D11(3,3) = 1/q3 + dt^2/q4 + (3*dt^2*(hia^2 + q1))/(2*q2) + (dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 - (dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*q2) + (dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 - (dt^2*(hia^2 + q1)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*q2) + (Lq^2*dt^2*(hia^2 + q1))/(4*Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1))/(4*Lq^2*q2) - (2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/q1 + (4*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/q1 + (dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/q2 - (2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/q2 + (dt^2*psi^2*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) - (Ld*dt^2*(hia^2 + q1))/(Lq*q2) - (Lq*dt^2*(hia^2 + q1))/(Ld*q2) + (dt^2*psi^2*1/2*(1 - e2q4*ch2t))/(Lq^2*q1) + (Lq^2*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (Lq^2*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) + (Lq^2*dt^2*(hia^2 + q1)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(4*Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(4*Lq^2*q2) + (dt^2*hia*psi*cht*e05q4)/(Ld*q2) - (2*dt^2*hia*psi*cht*e05q4)/(Lq*q2) + (Ld^2*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Lq^2*q2) + (Lq^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(4*Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(4*Lq^2*q2) - (dt^2*hia*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*q2) - (2*dt^2*hib*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq*q1) - (2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 - (2*Lq*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (Ld*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(Lq*q2) + (Lq*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(Ld*q2) - (2*Ld*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Ld*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (Lq*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (2*Ld*dt^2*hib*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) - (2*Ld*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (2*Lq*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (Lq^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (Lq^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(2*Ld^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(2*Lq^2*q2) + (Lq^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q1) + (2*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) + (dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (2*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q2) - (2*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq*q1) + (Ld*dt^2*hia*psi*cht*e05q4)/(Lq^2*q2) + (Ld*dt^2*hia*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q2) - (2*Lq^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Lq^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (Lq^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q2) - (Ld^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) + (Ld^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (2*Ld*dt^2*hia*hib*sht*cht*e2q4)/(Lq*q2) + (2*Lq*dt^2*hia*hib*sht*cht*e2q4)/(Ld*q2) - (2*Ld*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (2*Ld*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Lq*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (2*Lq*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Lq^2*dt^2*hia*hib*sht*cht*e2q4)/(Ld^2*q2) + (Ld^2*dt^2*hia*hib*sht*cht*e2q4)/(Lq^2*q2) + (2*Ld*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) - (Ld*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) + (2*Ld*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2);
            D11(3,4) = dt/q4 - (3*Rs*dt^2*(hia^2 + q1))/(2*Ld*q2) + (3*Rs*dt^2*(hia^2 + q1))/(2*Lq*q2) - (Rs*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (5*Rs*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Ld*q2) + (Rs*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (2*Rs*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (7*Rs*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Lq*q2) + (Rs*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (Ld*Rs*dt^2*(hia^2 + q1))/(2*Lq^2*q2) + (Lq*Rs*dt^2*(hia^2 + q1))/(2*Ld^2*q2) + (2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 - (2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 - (2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 - (2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 + (2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (4*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (Ld*dt*(hia^2 + q1)*kppj*1/2*(1 + e2q4*ch2t))/q3 + (Ld*dt*(hib^2 + q2)*kppj*1/2*(1 + e2q4*ch2t))/q3 + (Lq*dt*(hia^2 + q1)*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Lq*dt*(hib^2 + q2)*kppj*1/2*(1 + e2q4*ch2t))/q3 + (Ld*dt*(hia^2 + q1)*kppj*1/2*(1 - e2q4*ch2t))/q3 - (Ld*dt*(hib^2 + q2)*kppj*1/2*(1 - e2q4*ch2t))/q3 - (Lq*dt*(hia^2 + q1)*kppj*1/2*(1 - e2q4*ch2t))/q3 + (Lq*dt*(hib^2 + q2)*kppj*1/2*(1 - e2q4*ch2t))/q3 + (dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 - (dt^2*hia*hib*hom*1/2*(1 + e2q4*ch2t))/q2 + (dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/q2 - (2*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q2 - (dt*hia*kppj*psi*cht*e05q4)/q3 - (dt*hib*kppj*psi*sht*e05q4)/q3 - (2*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/q2 + (2*Rs*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (Rs*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Ld*q2) - (Rs*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Rs*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Lq*q2) - (Rs*dt^2*hib*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) + (dt^2*hib*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*q1) - (dt^2*hib*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq*q1) - (Ld*dt^2*hia*hib*hom)/(Lq*q2) + (Lq*dt^2*hia*hib*hom)/(Ld*q2) + (dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*q1) - (dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(2*Ld*q2) + (2*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld*q2) + (2*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*q2) + (2*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq*q2) + (2*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (Lq*Rs*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) - (Lq*Rs*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Ld^2*q2) - (Ld*Rs*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (3*Ld*Rs*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Lq^2*q2) - (Lq*Rs*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) - (Ld*Rs*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) - (Lq*Rs*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) - (Lq^2*dt^2*hia*hib*hom)/(2*Ld^2*q2) + (Ld^2*dt^2*hia*hib*hom)/(2*Lq^2*q2) + (dt^2*hom*psi^2*sht*cht*e2q4)/(Lq^2*q1) - (dt^2*hom*psi^2*sht*cht*e2q4)/(Lq^2*q2) - (Rs*dt^2*hia*psi*cht*e05q4)/(Lq^2*q2) - (6*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/q1 + (6*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/q2 - (dt^2*hib*hom*psi*cht*e05q4)/(Ld*q2) - (dt^2*hia*hom*psi*sht*e05q4)/(2*Ld*q2) + (dt^2*hia*hom*psi*sht*e05q4)/(Lq*q2) - (2*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) - (2*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q1) + (5*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(2*Ld*q2) + (3*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq*q1) + (Ld*dt^2*hib*hom*psi*cht*e05q4)/(Lq^2*q2) - (Ld*dt^2*hia*hom*psi*sht*e05q4)/(2*Lq^2*q2) - (2*Ld*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (2*Ld*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Lq*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (2*Lq*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) + (Lq^2*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Ld^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Lq^2*q2) + (Lq^2*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Lq^2*q2) + (Rs*dt^2*hia*psi*cht*e05q4)/(Ld*Lq*q2) - (Ld*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Lq*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (Ld*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (Lq*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (2*Ld*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*Lq*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (Ld*dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) + (Ld*dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(2*Lq^2*q2) - (2*Rs*dt^2*hia*hib*sht*cht*e2q4)/(Ld*q2) + (4*Rs*dt^2*hia*hib*sht*cht*e2q4)/(Lq*q2) - (2*Ld*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Lq*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (Lq*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (2*Ld*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Lq*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Lq^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (Ld^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (2*Lq^2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld^2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Lq^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (2*Lq^2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (2*Ld^2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) + (Rs*dt^2*hib*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*Lq*q1) - (Lq^2*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Lq^2*dt^2*hia*hib*hom*1/2*(1 + e2q4*ch2t))/(2*Ld^2*q2) + (Ld^2*dt^2*hia*hib*hom*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) - (Ld^2*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq^2*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) - (3*Ld^2*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(2*Lq^2*q2) + (Lq^2*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) - (4*Ld*dt*hia*hib*kppj*sht*cht*e2q4)/q3 + (4*Lq*dt*hia*hib*kppj*sht*cht*e2q4)/q3 - (Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (5*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (3*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) + (Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (2*Ld*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Lq*q2) - (2*Lq*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Ld*q2) + (5*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) + (Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) - (3*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) - (2*Rs*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (Rs*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) + (2*Rs*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) - (2*Rs*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2) + (3*Lq^2*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (3*Ld^2*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (3*Lq^2*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (3*Ld^2*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (3*Ld*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (Lq*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (3*Lq*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (3*Ld*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (Ld*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (3*Lq*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Lq*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q2) + (2*Ld*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) + (3*Ld*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) - (5*Ld*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(2*Lq^2*q2) - (3*Ld*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) + (2*Rs*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q1) - (Rs*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q1) - (2*Rs*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q2) + (2*Rs*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q2) - (2*Ld*Rs*dt^2*hia*hib*sht*cht*e2q4)/(Lq^2*q2);

            D11(4,1) = D11(1,4);
            D11(4,2) = D11(2,4);
            D11(4,3) = D11(3,4);
            D11(4,4) = 1/q4 - (2*dt^2*(hib^2 + q2)*(hom^2 + q3))/q2 + (Rs^2*dt^2*(hia^2 + q1))/(Ld^2*q2) + (Rs^2*dt^2*(hia^2 + q1))/(Lq^2*q2) - (2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 - (2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 + (8*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/q2 - (8*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q2 + (4*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 - (8*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 - (8*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 + (Rs^2*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Rs^2*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Rs^2*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (4*Rs^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (Rs^2*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (4*Rs^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Lq^2*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) + (Ld^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (dt^2*(hom^2 + q3)*psi^2*1/2*(1 + e2q4*ch2t))/(Lq^2*q1) + (Ld^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (dt^2*(hom^2 + q3)*psi^2*1/2*(1 - e2q4*ch2t))/(Lq^2*q2) + (dt^2*(hia^2 + q1)*kppj^2*psi^2*1/2*(1 + e2q4*ch2t))/q3 + (dt^2*(hib^2 + q2)*kppj^2*psi^2*1/2*(1 - e2q4*ch2t))/q3 - (2*Rs^2*dt^2*(hia^2 + q1))/(Ld*Lq*q2) + (Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Lq^2*q2) - (2*Rs^2*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q1) + (8*Rs^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Ld*Lq*q2) - (8*Rs^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q2) + (Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (4*Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) - (4*Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Lq^2*q2) + (4*Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (4*Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) + (2*dt^2*hib*(hom^2 + q3)*psi*sht*e05q4)/(Ld*q2) - (2*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Rs*dt^2*hia*hib*hom)/(Ld*q2) + (2*Rs*dt^2*hia*hib*hom)/(Lq*q2) - (2*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (8*dt^2*hia*hib*(hom^2 + q3)*sht*cht*e2q4)/q2 - (2*Ld*Lq*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Ld*dt^2*(hia^3 + 3*hia*q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*q1) + (2*Ld*dt^2*(hib^3 + 3*hib*q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (2*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (4*dt^2*hib*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (2*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (4*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (4*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Ld^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (8*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 - (8*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 - (16*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (2*Rs^2*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q1) + (4*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*dt^2*hia*hib*kppj^2*psi^2*sht*cht*e2q4)/q3 + (2*Rs*dt^2*hia*hom*psi*sht*e05q4)/(Lq^2*q2) + (4*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (4*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) - (4*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (8*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (4*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (4*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (8*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (8*Rs^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) + (4*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) - (8*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) - (4*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (4*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) + (4*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (4*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) + (8*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (8*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (4*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) + (4*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (4*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (4*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (8*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) - (8*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) - (2*Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (2*Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (4*Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (4*Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (4*Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (4*Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld*dt^2*(hia^3 + 3*hia*q1)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (2*Ld*dt^2*(hib^3 + 3*hib*q2)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (2*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (2*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (2*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q1) - (4*dt^2*hib*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) - (4*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (2*Rs*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (2*Rs*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (2*Rs*dt^2*hib*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q1) + (20*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (20*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (8*Rs*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (8*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) - (2*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (8*Rs*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) + (8*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (2*Ld*dt^2*hib*(hom^2 + q3)*psi*sht*e05q4)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hia*hib*hom)/(Lq^2*q2) - (2*Lq*Rs*dt^2*hia*hib*hom)/(Ld^2*q2) - (4*Rs*dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q2) + (4*Ld*Lq*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Ld*Lq*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (8*Ld^2*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (8*Ld^2*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (8*Ld^2*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (8*Ld^2*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (8*Lq^2*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (8*Lq^2*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (8*Lq^2*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (8*Lq^2*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Ld*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q1) + (4*Ld*dt^2*hib*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q2) + (4*Rs^2*dt^2*hia*hib*sht*cht*e2q4)/(Ld^2*q2) + (4*Rs^2*dt^2*hia*hib*sht*cht*e2q4)/(Lq^2*q2) - (2*Ld*dt^2*hia*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (2*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (4*Rs*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Ld*q2) + (4*Rs*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Ld*q2) - (4*Rs*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Lq*q2) + (4*Rs*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Lq*q2) - (2*Ld*dt^2*(hia^2 + q1)*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 + (2*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (4*Lq^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (4*Lq^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (4*Ld^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (4*Ld^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) + (8*Lq^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (8*Ld^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (2*Rs*dt^2*hib*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*Lq*q1) + (4*Rs*dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*Lq*q2) + (4*Ld*Rs*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Lq^2*q2) + (4*Lq*Rs*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Ld^2*q2) - (4*Ld*Rs*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Lq^2*q2) - (4*Lq*Rs*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Ld^2*q2) - (4*Rs*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) - (2*Rs*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (4*Rs*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) - (40*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (8*Rs^2*dt^2*hia*hib*sht*cht*e2q4)/(Ld*Lq*q2) + (4*Ld*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (4*Ld*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) + (4*Lq*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) - (4*Lq*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (4*Ld*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (4*Ld*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (4*Lq*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (4*Lq*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (8*Ld*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (8*Lq*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (8*Ld*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) + (8*Lq*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (16*Ld*Lq*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (16*Ld*Lq*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (16*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (16*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (4*Lq^2*dt^2*hia*hib*(hom^2 + q3)*sht*cht*e2q4)/(Ld^2*q2) - (4*Ld^2*dt^2*hia*hib*(hom^2 + q3)*sht*cht*e2q4)/(Lq^2*q2) + (12*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (8*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q2) + (12*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (8*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (2*Ld*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (4*Ld*dt^2*hib*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) + (4*Ld*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) + (2*Ld*Rs*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (2*Ld*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (8*Ld*Rs*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq^2*q2) + (8*Lq*Rs*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) - (8*Ld*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) - (8*Lq*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (10*Ld*dt^2*hia*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (10*Ld*dt^2*(hia^2 + q1)*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (10*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (10*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (2*Rs*dt^2*hia*hom*psi*sht*e05q4)/(Ld*Lq*q2) - (8*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q1) + (8*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q1) + (16*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q2) + (4*Rs*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q1) + (2*Rs*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q1) - (4*Rs*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q2) - (12*Ld*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (12*Lq*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (8*Ld*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (8*Lq*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2); 


            D12 = -A70'*iQ4;
            D21 = D12';
            D22 = iQ4 + C4'*iR*C4;

            Jj10 = D22 - D21/(Jj10 + D11)*D12;
            tmp = inv(Jj10);        
            iJn10(1,t) = tmp(3,3);
            iJn10(2,t) = tmp(4,4);
        end
        if(model(11) == 1) %d-q/E/Ldq
            A81(1,2) = Lq*dt/Ld*ome;
            A81(1,3) = Lq*dt/Ld*iq;
            A81(2,1) = -Ld*dt/Lq*ome;
            A81(2,3) = -Ld*dt/Lq*id-psipm*dt/Lq;
            A81(3,1) = kp*pp*pp*dt*(Ld-Lq)/J*iq;
            A81(3,2) = kp*pp*pp*dt/J*((Ld-Lq)*id+psipm);    

            D11 = A81'*iQ4*A81 + D11_cor11;
            D12 = -A81'*iQ4;
            D21 = D12';
            D22 = iQ4 + C4'*iR*C4;

            Jj11 = D22 - D21/(Jj11 + D11)*D12;
            tmp = inv(Jj11);        
            iJn11(1,t) = tmp(3,3);
            iJn11(2,t) = tmp(4,4);
        end
        if(model(12) == 1) %5sc/E/Ldq
            A92(1, 1) = 1.0 + dt*(-Rs*(1/2*(1 - e2q4*ch2t)/Lq + 1/2*(1 + e2q4*ch2t)/Ld) + hom*sht*cht*e2q4*(Ld/Lq - Lq/Ld));
            A92(1, 2) = dt*(-hom + Rs*sht*cht*e2q4*(1/Lq - 1/Ld) + hom*(Ld*1/2*(1 - e2q4*ch2t)/Lq + Lq*1/2*(1 + e2q4*ch2t)/Ld));
            A92(1, 3) = dt*psi*sht*e05q4/Lq + dt*hia*sht*cht*e2q4*(Ld/Lq - Lq/Ld) + dt*hib*(-1 + Ld/Lq*1/2*(1 - e2q4*ch2t) + Lq/Ld*1/2*(1 + e2q4*ch2t));
            A92(1, 4) = dt*psi*hom/Lq + dt*hia*(-Rs*2*sht*e05q4/Lq + hom*cht*e05q4*(Ld/Lq - Lq/Ld)) + dt*hib*(Rs*cht*e05q4*(1/Lq - 1/Ld) + hom*2*Ld*sht*e05q4/Lq);
            A92(1, 5) = dt*hia*(-Rs*2*cht*e05q4/Ld + hom*sht*e05q4*(Ld/Lq - Lq/Ld)) + dt*hib*(Rs*sht*e05q4*(1/Lq - 1/Ld) + hom*2*Lq*cht*e05q4/Ld);

            A92(2, 1) = dt*(hom + Rs*sht*cht*e2q4*(1/Lq - 1/Ld) - hom*(Lq*1/2*(1 - e2q4*ch2t)/Ld + Ld*1/2*(1 + e2q4*ch2t)/Lq));
            A92(2, 2) = 1 + dt*(-Rs*(1/2*(1 - e2q4*ch2t)/Ld + 1/2*(1 + e2q4*ch2t)/Lq) + hom*sht*cht*e2q4*(Lq/Ld - Ld/Lq));
            A92(2, 3) = -dt*psi*cht*e05q4/Lq + dt*hia*(1 - Lq*1/2*(1 - e2q4*ch2t)/Ld - Ld*1/2*(1 + e2q4*ch2t)/Lq) + dt*hib*sht*cht*e2q4*(Lq/Ld - Ld/Lq);
            A92(2, 4) = dt*hia*(Rs*cht*e05q4*(1/Lq - 1/Ld) - hom*2*Lq*sht*e05q4/Ld) + dt*hib*(-Rs*2*sht*e05q4/Ld + hom*cht*e05q4*(Lq/Ld - Ld/Lq));
            A92(2, 5) = -dt*psi*hom/Lq + dt*hia*(Rs*sht*e05q4*(1/Lq - 1/Ld) -hom*2*Ld*cht*e05q4/Lq) + dt*hib*(-Rs*2*cht*e05q4/Lq + hom*sht*e05q4*(Lq/Ld - Ld/Lq));

            A92(3, 1) = dt*kpp/J*((Ld - Lq)*(-2*hia*sht*cht*e2q4 + hib*1/2*(1 + e2q4*ch2t) - hib*1/2*(1 - e2q4*ch2t)) - psi*sht*e05q4);
            A92(3, 2) = dt*kpp/J*((Ld - Lq)*(hia*1/2*(1 + e2q4*ch2t) - hia*1/2*(1 - e2q4*ch2t) + 2*hib*sht*cht*e2q4) + psi*cht*e05q4);
            A92(3, 3) = 1;
            A92(3, 4) = dt*kpp/J*((Ld - Lq)*(-(hia^2 + q1)*cht*e05q4 - hia*hib*2*sht*e05q4 + (hib^2 + q2)*cht*e05q4) - psi*hia);
            A92(3, 5) = dt*kpp/J*((Ld - Lq)*(-(hia^2 + q1)*sht*e05q4 + hia*hib*2*cht*e05q4 + (hib^2 + q2)*sht*e05q4) + psi*hib);

            A92(4,3) = dt*cht*e05q4;
            A92(4,5) = dt*hom;
            A92(5,3) = -dt*sht*e05q4;
            A92(5,4) = -dt*hom;

            D11 = zeros(5);
            D11(1,1) = 1/q1 + (dt^2*(hom^2 + q3))/q2 + (Rs^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2)/(Ld^2*q1) + (Rs^2*dt^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) - (2*Rs*(cht^2 + q5)*dt)/(Ld*q1) - (2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/q2 - (2*Rs*dt*(sht^2 + q4))/(Lq*q1) + (dt^2*kpp^2*psi^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*(cht^2 + q5)*dt^2*(hom^2 + q3))/(Lq*q2) - (2*Lq*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Ld*q2) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hom^2 + q3))/(Lq^2*q2) + (Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld^2*q2) + (Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Lq^2*q2) + (Lq^2*dt^2*(hom^2 + q3)*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (2*Rs*cht*dt^2*hom*sht)/(Ld*q2) + (2*Rs*cht*dt^2*hom*sht)/(Lq*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld*Lq*q2) + (2*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Ld*q1) - (2*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Ld*q2) - (2*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Lq*q1) + (2*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Lq*q2) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hib^2 + q2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hib^2 + q2)*kpp^2)/(J^2*q3) + (Ld^2*dt^2*(hib^2 + q2)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*dt^2*(hib^2 + q2)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) + (2*Ld*cht*dt*hom*sht)/(Lq*q1) - (2*Lq*cht*dt*hom*sht)/(Ld*q1) + (2*Ld*dt^2*hib*kpp^2*psi*(sht^3 + 3*sht*q4))/(J^2*q3) - (2*Lq*dt^2*hib*kpp^2*psi*(sht^3 + 3*sht*q4))/(J^2*q3) + (4*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hib^2 + q2)*kpp^2)/(J^2*q3) - (2*Ld*Lq*dt^2*(hib^2 + q2)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) - (2*Ld*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Ld^2*q1) - (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Lq^2*q2) + (2*Lq*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (4*Ld^2*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (4*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3) + (4*Lq^2*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (4*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3) - (8*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Ld*Lq*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Ld*cht*dt^2*hia*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (2*Ld*(cht^2 + q5)*dt^2*hib*kpp^2*psi*sht)/(J^2*q3) - (4*Lq*cht*dt^2*hia*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (2*Lq*(cht^2 + q5)*dt^2*hib*kpp^2*psi*sht)/(J^2*q3) - (8*Ld*Lq*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (8*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3);
            D11(1,2) = (dt*hom)/q2 - (dt*hom)/q1 - (cht*dt^2*(hom^2 + q3)*(sht^3 + 3*sht*q4))/q1 + ((cht^3 + 3*cht*q5)*dt^2*(hom^2 + q3)*sht)/q1 + (cht*dt^2*(hom^2 + q3)*(sht^3 + 3*sht*q4))/q2 - ((cht^3 + 3*cht*q5)*dt^2*(hom^2 + q3)*sht)/q2 + (Rs*(cht^2 + q5)*dt^2*hom)/(Ld*q1) - (Rs*(cht^2 + q5)*dt^2*hom)/(Lq*q2) - (Rs*dt^2*hom*(sht^2 + q4))/(Ld*q2) + (Rs*dt^2*hom*(sht^2 + q4))/(Lq*q1) - (Rs*cht*dt*sht)/(Ld*q1) - (Rs*cht*dt*sht)/(Ld*q2) + (Rs*cht*dt*sht)/(Lq*q1) + (Rs*cht*dt*sht)/(Lq*q2) + (Rs^2*(cht^3 + 3*cht*q5)*dt^2*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (Rs^2*cht*dt^2*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Rs^2*(cht^3 + 3*cht*q5)*dt^2*sht)/(Lq^2*q2) + (Lq*(cht^2 + q5)*dt*hom)/(Ld*q1) - (Ld*(cht^2 + q5)*dt*hom)/(Lq*q2) + (Ld*dt*hom*(sht^2 + q4))/(Lq*q1) - (Lq*dt*hom*(sht^2 + q4))/(Ld*q2) - (cht*dt^2*kpp^2*psi^2*sht)/(J^2*q3) + (Rs^2*cht*dt^2*(sht^3 + 3*sht*q4))/(Ld*Lq*q1) - (Rs^2*(cht^3 + 3*cht*q5)*dt^2*sht)/(Ld*Lq*q1) - (Rs^2*cht*dt^2*(sht^3 + 3*sht*q4))/(Ld*Lq*q2) + (Rs^2*(cht^3 + 3*cht*q5)*dt^2*sht)/(Ld*Lq*q2) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hom^2 + q3)*sht)/(Ld^2*q1) + (Ld^2*cht*dt^2*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq^2*cht*dt^2*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hom^2 + q3)*sht)/(Lq^2*q2) - (Lq*Rs*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hom)/(Ld^2*q1) + (Ld*Rs*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hom)/(Lq^2*q2) - (Ld*Rs*dt^2*hom*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) + (Lq*Rs*dt^2*hom*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (Ld*cht*dt^2*(hom^2 + q3)*sht)/(Lq*q1) + (Lq*cht*dt^2*(hom^2 + q3)*sht)/(Ld*q1) - (Ld*cht*dt^2*(hom^2 + q3)*sht)/(Lq*q2) + (Lq*cht*dt^2*(hom^2 + q3)*sht)/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Ld*q1) + (2*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Lq*q1) + (2*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Lq*q2) + (2*Ld^2*cht*dt^2*(hia^2 + q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*kpp^2*sht)/(J^2*q3) - (2*Ld^2*cht*dt^2*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) + (2*Lq^2*cht*dt^2*(hia^2 + q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*kpp^2*sht)/(J^2*q3) - (2*Lq^2*cht*dt^2*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) + (Ld*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Ld^2*q1) - (Ld*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Ld^2*q2) + (Ld*(cht^3 + 3*cht*q5)*dt^2*hib*kpp^2*psi)/(J^2*q3) - (Lq*(cht^3 + 3*cht*q5)*dt^2*hib*kpp^2*psi)/(J^2*q3) + (Ld*dt^2*hia*kpp^2*psi*(sht^3 + 3*sht*q4))/(J^2*q3) - (Lq*dt^2*hia*kpp^2*psi*(sht^3 + 3*sht*q4))/(J^2*q3) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia*hib*kpp^2)/(J^2*q3) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia*hib*kpp^2)/(J^2*q3) + (Ld^2*dt^2*hia*hib*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*dt^2*hia*hib*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) - (4*Ld*Lq*cht*dt^2*(hia^2 + q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (4*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*kpp^2*sht)/(J^2*q3) + (4*Ld*Lq*cht*dt^2*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (4*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (6*Ld^2*(cht^2 + q5)*dt^2*hia*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (6*Lq^2*(cht^2 + q5)*dt^2*hia*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia*hib*kpp^2)/(J^2*q3) - (2*Ld*Lq*dt^2*hia*hib*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) - (3*Ld*(cht^2 + q5)*dt^2*hia*kpp^2*psi*sht)/(J^2*q3) - (3*Ld*cht*dt^2*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (3*Lq*(cht^2 + q5)*dt^2*hia*kpp^2*psi*sht)/(J^2*q3) + (3*Lq*cht*dt^2*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (12*Ld*Lq*(cht^2 + q5)*dt^2*hia*hib*kpp^2*(sht^2 + q4))/(J^2*q3);
            D11(1,3) = (dt^2*hia*hom)/q2 - (dt*hib)/q1 + (dt*psi*sht)/(Lq*q1) - (cht*dt^2*hib*hom*(sht^3 + 3*sht*q4))/q1 + ((cht^3 + 3*cht*q5)*dt^2*hib*hom*sht)/q1 + (cht*dt^2*hib*hom*(sht^3 + 3*sht*q4))/q2 - ((cht^3 + 3*cht*q5)*dt^2*hib*hom*sht)/q2 + (Rs*(cht^2 + q5)*dt^2*hib)/(Ld*q1) + (Rs*dt^2*hib*(sht^2 + q4))/(Lq*q1) - (Rs*dt^2*psi*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (2*(cht^2 + q5)*dt^2*hia*hom*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*hia*hom*(sht^2 + q4))/q2 - (dt*kpp*psi*sht)/(J*q3) + (Lq*(cht^2 + q5)*dt*hib)/(Ld*q1) + (Ld*dt*hib*(sht^2 + q4))/(Lq*q1) - (cht*dt^2*hom*psi)/(Lq*q2) + (Ld*(cht^2 + q5)*dt*hib*kpp)/(J*q3) - (Lq*(cht^2 + q5)*dt*hib*kpp)/(J*q3) - (Ld*dt*hib*kpp*(sht^2 + q4))/(J*q3) + (Lq*dt*hib*kpp*(sht^2 + q4))/(J*q3) - (Rs*cht*dt^2*hia*sht)/(Ld*q2) + (Rs*cht*dt^2*hia*sht)/(Lq*q2) - (Lq*Rs*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hib)/(Ld^2*q1) - (Ld*Rs*dt^2*hib*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) - (2*Ld*(cht^2 + q5)*dt^2*hia*hom)/(Lq*q2) + (Ld*(cht^3 + 3*cht*q5)*dt^2*hom*psi)/(Lq^2*q2) + (Rs*cht*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld*q1) - (Rs*cht*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld*q2) - (Rs*(cht^3 + 3*cht*q5)*dt^2*hia*sht)/(Lq*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*hia*sht)/(Lq*q2) - (2*Lq*dt^2*hia*hom*(sht^2 + q4))/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*psi*sht)/(Lq^2*q2) - (cht*dt^2*hom*psi*(sht^2 + q4))/(Ld*q1) + (cht*dt^2*hom*psi*(sht^2 + q4))/(Ld*q2) + (Ld*cht*dt*hia*sht)/(Lq*q1) - (Lq*cht*dt*hia*sht)/(Ld*q1) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia*hom)/(Lq^2*q2) - (Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Ld*q1) + (Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Lq*q1) + (Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Lq*q2) + (Lq^2*dt^2*hia*hom*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) + (Ld*cht*dt^2*hom*psi*(sht^2 + q4))/(Lq^2*q1) - (2*Ld*cht*dt*hia*kpp*sht)/(J*q3) + (2*Lq*cht*dt*hia*kpp*sht)/(J*q3) - (Ld*Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Ld^2*q2) - (Rs*(cht^2 + q5)*dt^2*psi*sht)/(Ld*Lq*q1) + (Rs*(cht^2 + q5)*dt^2*psi*sht)/(Ld*Lq*q2) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hib*hom*sht)/(Ld^2*q1) + (Ld^2*cht*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq^2*cht*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hib*hom*sht)/(Lq^2*q2) - (Ld*cht*dt^2*hib*hom*sht)/(Lq*q1) + (Lq*cht*dt^2*hib*hom*sht)/(Ld*q1) - (Ld*cht*dt^2*hib*hom*sht)/(Lq*q2) + (Lq*cht*dt^2*hib*hom*sht)/(Ld*q2) + (Lq^2*(cht^2 + q5)*dt^2*hia*hom*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*hia*hom*(sht^2 + q4))/(Lq^2*q1) - (Ld*Rs*cht*dt^2*hia*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*sht)/(Ld^2*q1) - (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*sht)/(Lq^2*q2) + (Lq*Rs*cht*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld^2*q2);
            D11(1,4) = (dt*hom*psi)/(Lq*q1) - ((cht^3 + 3*cht*q5)*dt^2*hib*(hom^2 + q3))/q2 - (Rs*cht*dt*hib)/(Ld*q1) + (Rs*cht*dt*hib)/(Lq*q1) - (2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/q1 - (2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/q2 + (cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/q2 - (2*Rs*dt*hia*sht)/(Lq*q1) + (Rs^2*(cht^3 + 3*cht*q5)*dt^2*hib)/(Ld^2*q1) + (2*Rs^2*dt^2*hia*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (dt^2*hia*kpp^2*psi^2*sht)/(J^2*q3) - (Rs^2*(cht^3 + 3*cht*q5)*dt^2*hib)/(Ld*Lq*q1) - (Rs*cht*dt^2*hia*hom)/(Ld*q2) + (Rs*cht*dt^2*hia*hom)/(Lq*q2) - (2*Rs*dt^2*hib*hom*sht)/(Ld*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hib*(hom^2 + q3))/(Lq^2*q2) + (2*Lq^2*dt^2*hia*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (Ld*cht*dt^2*hib*(hom^2 + q3))/(Lq*q2) + (Lq*cht*dt^2*hib*(hom^2 + q3))/(Ld*q2) - (Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Lq*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Lq*q2) - (2*Lq*dt^2*hia*(hom^2 + q3)*sht)/(Ld*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) - (Rs*dt^2*hom*psi*(sht^2 + q4))/(Lq^2*q1) - (cht*dt^2*(hom^2 + q3)*psi*sht)/(Ld*q1) + (Ld*cht*dt*hia*hom)/(Lq*q1) - (Lq*cht*dt*hia*hom)/(Ld*q1) + (2*Ld*dt*hib*hom*sht)/(Lq*q1) + (Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld^2*q2) + (2*Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld^2*q2) - (Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Lq^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Lq^2*q2) + (3*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld*q1) - (Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld*q1) - (3*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld*q2) + (Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld*q2) - (3*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq*q1) + (3*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq*q2) + (Ld*cht*dt^2*(hom^2 + q3)*psi*sht)/(Lq^2*q1) - (Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) + (2*Ld^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) - (Ld^2*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Lq^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) - (Lq^2*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Ld^2*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Lq^2*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (Rs*(cht^2 + q5)*dt^2*hom*psi)/(Ld*Lq*q1) - (2*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) + (2*Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld*Lq*q1) + (Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld*Lq*q2) - (2*Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld*Lq*q2) + (Lq^2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/(Lq^2*q1) + (2*Ld^2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) - (Lq^2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Ld^2*q1) - (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (4*Ld*Lq*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) + (2*Ld*Lq*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld*Lq*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (3*Ld*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq^2*q1) + (Ld*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld^2*q1) + (3*Lq*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld^2*q2) - (Ld*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld^2*q2) + (5*Ld^2*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld^2*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) + (5*Lq^2*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Lq^2*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (Ld*(cht^2 + q5)*dt^2*hia*hib*kpp^2*psi)/(J^2*q3) + (Lq*(cht^2 + q5)*dt^2*hia*hib*kpp^2*psi)/(J^2*q3) + (3*Ld*cht*dt^2*(hia^2 + q1)*kpp^2*psi*sht)/(J^2*q3) - (Ld*cht*dt^2*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) - (3*Lq*cht*dt^2*(hia^2 + q1)*kpp^2*psi*sht)/(J^2*q3) + (Lq*cht*dt^2*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) + (3*Ld*dt^2*hia*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (3*Lq*dt^2*hia*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (2*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) - (10*Ld*Lq*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) + (8*Ld*Lq*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3);
            D11(1,5) = (dt^2*hib*(hom^2 + q3)*(sht^3 + 3*sht*q4))/q2 - (dt^2*(hom^2 + q3)*psi)/(Lq*q2) - (2*Rs*cht*dt*hia)/(Ld*q1) - (2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/q1 + (2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/q2 - ((cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/q2 - (Rs*dt*hib*sht)/(Ld*q1) + (Rs*dt*hib*sht)/(Lq*q1) + (2*Rs^2*(cht^3 + 3*cht*q5)*dt^2*hia)/(Ld^2*q1) - (Rs^2*dt^2*hib*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (dt^2*(hom^2 + q3)*psi*(sht^2 + q4))/(Ld*q2) - (dt^2*hib*kpp^2*psi^2*sht)/(J^2*q3) - (2*Rs*cht*dt^2*hib*hom)/(Lq*q2) + (Rs^2*dt^2*hib*(sht^3 + 3*sht*q4))/(Ld*Lq*q1) - (Rs*dt^2*hia*hom*sht)/(Ld*q2) + (Rs*dt^2*hia*hom*sht)/(Lq*q2) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hom^2 + q3))/(Lq^2*q2) - (Lq^2*dt^2*hib*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (2*Ld*cht*dt^2*hia*(hom^2 + q3))/(Lq*q2) - (Ld*dt^2*hib*(hom^2 + q3)*sht)/(Lq*q2) + (Lq*dt^2*hib*(hom^2 + q3)*sht)/(Ld*q2) + (Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld*q1) - (Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld*q2) - (Ld^2*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (Lq^2*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Lq*cht*dt*hib*hom)/(Ld*q1) + (Ld*dt*hia*hom*sht)/(Lq*q1) - (Lq*dt*hia*hom*sht)/(Ld*q1) + (Ld*(cht^2 + q5)*dt^2*(hom^2 + q3)*psi)/(Lq^2*q2) + (Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld^2*q2) + (Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Lq^2*q2) - (2*Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Lq^2*q2) - (3*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld*q1) + (3*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld*q2) - (3*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq*q1) - (Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq*q1) + (3*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq*q2) + (Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq*q2) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (2*Ld^2*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Ld^2*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (2*Lq^2*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (Ld^2*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Lq^2*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld*Lq*q1) - (Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld*Lq*q1) - (2*Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld*Lq*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld*Lq*q2) - (Rs*cht*dt^2*hom*psi*sht)/(Lq^2*q2) + (Ld*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) - (Lq*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (Lq^2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) - (2*Lq^2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/(Lq^2*q2) + (Ld*dt^2*(hia^2 + q1)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (2*Ld*dt^2*(hib^2 + q2)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (Lq*dt^2*(hia^2 + q1)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (2*Lq*dt^2*(hib^2 + q2)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Ld^2*q1) + (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Lq^2*q2) - (Ld*Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (Lq*Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (4*Ld*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (2*Ld*Lq*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (3*Lq*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld^2*q1) + (Ld*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld^2*q1) - (3*Ld*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq^2*q2) - (Ld*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld^2*q2) + (Rs*cht*dt^2*hom*psi*sht)/(Ld*Lq*q2) - (4*Ld^2*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (5*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (5*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (10*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Ld*cht*dt^2*hia*hib*kpp^2*psi*sht)/(J^2*q3) + (4*Lq*cht*dt^2*hia*hib*kpp^2*psi*sht)/(J^2*q3);

            D11(2,1) = D11(1,2);
            D11(2,2) = 1/q2 + (dt^2*(hom^2 + q3))/q1 + (Rs^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2)/(Lq^2*q2) + (Rs^2*dt^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (2*Rs*(cht^2 + q5)*dt)/(Lq*q2) + (2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/q1 - (2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/q2 - (2*Rs*dt*(sht^2 + q4))/(Ld*q2) - (2*Lq*(cht^2 + q5)*dt^2*(hom^2 + q3))/(Ld*q1) - (2*Ld*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Lq*q1) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hom^2 + q3))/(Ld^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Lq^2*q1) + (Ld^2*dt^2*(hom^2 + q3)*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) + ((cht^2 + q5)*dt^2*kpp^2*psi^2)/(J^2*q3) + (2*Rs*cht*dt^2*hom*sht)/(Ld*q1) - (2*Rs*cht*dt^2*hom*sht)/(Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld*Lq*q1) + (2*Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld*Lq*q2) + (2*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Ld*q1) - (2*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Ld*q2) - (2*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Lq*q1) + (2*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Lq*q2) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hia^2 + q1)*kpp^2)/(J^2*q3) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hia^2 + q1)*kpp^2)/(J^2*q3) + (Ld^2*dt^2*(hia^2 + q1)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*dt^2*(hia^2 + q1)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q2) - (2*Ld*cht*dt*hom*sht)/(Lq*q2) + (2*Lq*cht*dt*hom*sht)/(Ld*q2) + (2*Ld*(cht^3 + 3*cht*q5)*dt^2*hia*kpp^2*psi)/(J^2*q3) - (2*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*kpp^2*psi)/(J^2*q3) - (2*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hia^2 + q1)*kpp^2)/(J^2*q3) - (2*Ld*Lq*dt^2*(hia^2 + q1)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (2*Ld*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Ld^2*q1) + (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Lq^2*q2) - (2*Lq*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (4*Ld^2*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (4*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (4*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3) + (4*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (8*Ld*Lq*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*cht*dt^2*hia*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (4*Ld*(cht^2 + q5)*dt^2*hib*kpp^2*psi*sht)/(J^2*q3) + (2*Lq*cht*dt^2*hia*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (4*Lq*(cht^2 + q5)*dt^2*hib*kpp^2*psi*sht)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (8*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3);
            D11(2,3) = (dt*hia)/q2 + (dt^2*hib*hom)/q1 - (cht*dt*psi)/(Lq*q2) - (cht*dt^2*hia*hom*(sht^3 + 3*sht*q4))/q1 + ((cht^3 + 3*cht*q5)*dt^2*hia*hom*sht)/q1 + (cht*dt^2*hia*hom*(sht^3 + 3*sht*q4))/q2 - ((cht^3 + 3*cht*q5)*dt^2*hia*hom*sht)/q2 - (Rs*(cht^2 + q5)*dt^2*hia)/(Lq*q2) + (Rs*(cht^3 + 3*cht*q5)*dt^2*psi)/(Lq^2*q2) - (Rs*dt^2*hia*(sht^2 + q4))/(Ld*q2) + (2*(cht^2 + q5)*dt^2*hib*hom*(sht^2 + q4))/q1 - (2*(cht^2 + q5)*dt^2*hib*hom*(sht^2 + q4))/q2 + (cht*dt*kpp*psi)/(J*q3) - (Ld*(cht^2 + q5)*dt*hia)/(Lq*q2) - (Lq*dt*hia*(sht^2 + q4))/(Ld*q2) - (dt^2*hom*psi*sht)/(Lq*q1) + (Ld*(cht^2 + q5)*dt*hia*kpp)/(J*q3) - (Lq*(cht^2 + q5)*dt*hia*kpp)/(J*q3) - (Ld*dt*hia*kpp*(sht^2 + q4))/(J*q3) + (Lq*dt*hia*kpp*(sht^2 + q4))/(J*q3) + (Rs*cht*dt^2*hib*sht)/(Ld*q1) - (Rs*cht*dt^2*hib*sht)/(Lq*q1) + (Ld*Rs*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia)/(Lq^2*q2) + (Lq*Rs*dt^2*hia*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (2*Lq*(cht^2 + q5)*dt^2*hib*hom)/(Ld*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*hib*sht)/(Ld*q1) - (Rs*(cht^3 + 3*cht*q5)*dt^2*hib*sht)/(Ld*q2) - (Rs*cht*dt^2*hib*(sht^3 + 3*sht*q4))/(Lq*q1) + (Rs*cht*dt^2*hib*(sht^3 + 3*sht*q4))/(Lq*q2) - (2*Ld*dt^2*hib*hom*(sht^2 + q4))/(Lq*q1) + (Rs*cht*dt^2*psi*(sht^2 + q4))/(Lq^2*q1) + (Ld*dt^2*hom*psi*(sht^3 + 3*sht*q4))/(Lq^2*q1) + ((cht^2 + q5)*dt^2*hom*psi*sht)/(Ld*q1) - ((cht^2 + q5)*dt^2*hom*psi*sht)/(Ld*q2) - (Ld*cht*dt*hib*sht)/(Lq*q2) + (Lq*cht*dt*hib*sht)/(Ld*q2) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hib*hom)/(Ld^2*q1) - (Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Ld*q1) + (Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Lq*q1) + (Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Lq*q2) + (Ld^2*dt^2*hib*hom*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) + (Ld*(cht^2 + q5)*dt^2*hom*psi*sht)/(Lq^2*q2) + (2*Ld*cht*dt*hib*kpp*sht)/(J*q3) - (2*Lq*cht*dt*hib*kpp*sht)/(J*q3) + (Ld*Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Ld^2*q1) - (Rs*cht*dt^2*psi*(sht^2 + q4))/(Ld*Lq*q1) + (Rs*cht*dt^2*psi*(sht^2 + q4))/(Ld*Lq*q2) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hom*sht)/(Ld^2*q1) + (Ld^2*cht*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq^2*cht*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hom*sht)/(Lq^2*q2) - (Ld*cht*dt^2*hia*hom*sht)/(Lq*q1) + (Lq*cht*dt^2*hia*hom*sht)/(Ld*q1) - (Ld*cht*dt^2*hia*hom*sht)/(Lq*q2) + (Lq*cht*dt^2*hia*hom*sht)/(Ld*q2) + (Lq^2*(cht^2 + q5)*dt^2*hib*hom*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*hib*hom*(sht^2 + q4))/(Lq^2*q2) + (Ld*Rs*cht*dt^2*hib*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*sht)/(Ld^2*q1) + (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*sht)/(Lq^2*q2) - (Lq*Rs*cht*dt^2*hib*(sht^3 + 3*sht*q4))/(Ld^2*q2);
            D11(2,4) = ((cht^3 + 3*cht*q5)*dt^2*hia*(hom^2 + q3))/q1 - (dt^2*(hom^2 + q3)*psi)/(Lq*q1) - (Rs*cht*dt*hia)/(Ld*q2) + (Rs*cht*dt*hia)/(Lq*q2) - (cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/q1 + (2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/q2 - (2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/q2 - (2*Rs*dt*hib*sht)/(Ld*q2) - (Rs^2*(cht^3 + 3*cht*q5)*dt^2*hia)/(Lq^2*q2) + (2*Rs^2*dt^2*hib*(sht^3 + 3*sht*q4))/(Ld^2*q2) + ((cht^2 + q5)*dt^2*(hom^2 + q3)*psi)/(Ld*q1) - (cht*dt^2*hia*kpp^2*psi^2)/(J^2*q3) + (Rs^2*(cht^3 + 3*cht*q5)*dt^2*hia)/(Ld*Lq*q2) + (Rs*cht*dt^2*hib*hom)/(Ld*q1) - (Rs*cht*dt^2*hib*hom)/(Lq*q1) + (2*Rs*dt^2*hia*hom*sht)/(Lq*q1) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hom^2 + q3))/(Ld^2*q1) + (2*Ld^2*dt^2*hib*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Ld*cht*dt^2*hia*(hom^2 + q3))/(Lq*q1) + (Lq*cht*dt^2*hia*(hom^2 + q3))/(Ld*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Ld*q1) - (Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Ld*q2) - (2*Ld*dt^2*hib*(hom^2 + q3)*sht)/(Lq*q1) - (Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2)/(J^2*q3) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2)/(J^2*q3) - (Ld*cht*dt*hib*hom)/(Lq*q2) + (Lq*cht*dt*hib*hom)/(Ld*q2) - (2*Lq*dt*hia*hom*sht)/(Ld*q2) + (Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld^2*q2) - (2*Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Lq^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Lq^2*q1) + (Ld*dt^2*(hom^2 + q3)*psi*(sht^2 + q4))/(Lq^2*q1) - (3*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld*q1) + (3*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq*q1) - (3*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq*q1) + (Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq*q2) + (3*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (Ld^2*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Ld^2*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (Lq^2*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Lq^2*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (2*Ld^2*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Lq^2*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2)/(J^2*q3) + (2*Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld*Lq*q1) - (Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld*Lq*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld*Lq*q2) + (Rs*cht*dt^2*hom*psi*sht)/(Lq^2*q1) - (2*Ld*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*psi)/(J^2*q3) + (Ld*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (2*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*psi)/(J^2*q3) - (Lq*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (Ld^2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) - (2*Lq^2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Lq^2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/(Lq^2*q2) + (Ld*dt^2*(hia^2 + q1)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (Lq*dt^2*(hia^2 + q1)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Ld^2*q1) + (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (2*Ld*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld*Lq*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (4*Ld*Lq*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Ld*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld^2*q1) + (3*Ld*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq^2*q1) - (Ld*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld^2*q2) - (3*Lq*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld^2*q2) - (Rs*cht*dt^2*hom*psi*sht)/(Ld*Lq*q1) - (5*Ld^2*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (5*Lq^2*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (2*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (10*Ld*Lq*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (8*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Ld*cht*dt^2*hia*hib*kpp^2*psi*sht)/(J^2*q3) + (4*Lq*cht*dt^2*hia*hib*kpp^2*psi*sht)/(J^2*q3);
            D11(2,5) = ((cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/q1 - (dt^2*hia*(hom^2 + q3)*(sht^3 + 3*sht*q4))/q1 - (2*Rs*cht*dt*hib)/(Lq*q2) - (dt*hom*psi)/(Lq*q2) + (2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/q1 - (2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/q2 - (2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/q2 - (Rs*dt*hia*sht)/(Ld*q2) + (Rs*dt*hia*sht)/(Lq*q2) + (2*Rs^2*(cht^3 + 3*cht*q5)*dt^2*hib)/(Lq^2*q2) + (Rs^2*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (cht*dt^2*hib*kpp^2*psi^2)/(J^2*q3) + (2*Rs*cht*dt^2*hia*hom)/(Ld*q1) - (Rs^2*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld*Lq*q2) + (Rs*dt^2*hib*hom*sht)/(Ld*q1) - (Rs*dt^2*hib*hom*sht)/(Lq*q1) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hib*(hom^2 + q3))/(Ld^2*q1) + (Ld^2*dt^2*hia*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (2*Lq*cht*dt^2*hib*(hom^2 + q3))/(Ld*q1) + (Rs*(cht^2 + q5)*dt^2*hom*psi)/(Lq^2*q2) - (Ld*dt^2*hia*(hom^2 + q3)*sht)/(Lq*q1) + (Lq*dt^2*hia*(hom^2 + q3)*sht)/(Ld*q1) - (Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq*q1) + (Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq*q2) + (Ld^2*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Lq^2*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (cht*dt^2*(hom^2 + q3)*psi*sht)/(Ld*q2) - (2*Ld*cht*dt*hia*hom)/(Lq*q2) - (Ld*dt*hib*hom*sht)/(Lq*q2) + (Lq*dt*hib*hom*sht)/(Ld*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld^2*q1) + (Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Lq^2*q1) - (Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Lq^2*q2) - (Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld*q1) + (3*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld*q1) + (Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld*q2) - (3*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld*q2) - (3*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq*q1) + (3*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq*q2) + (Ld*cht*dt^2*(hom^2 + q3)*psi*sht)/(Lq^2*q2) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) - (Ld^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) + (2*Ld^2*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (Lq^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) + (2*Lq^2*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (Ld^2*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (Lq^2*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Rs*dt^2*hom*psi*(sht^2 + q4))/(Ld*Lq*q2) - (2*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (2*Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld*Lq*q1) - (2*Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld*Lq*q1) + (Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld*Lq*q2) + (2*Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld*Lq*q2) - (Lq^2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/(Ld^2*q1) + (2*Ld^2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/(Lq^2*q2) + (Lq^2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q2) - (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Ld^2*q1) + (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Lq^2*q2) + (Ld*Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq*Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (2*Ld*Lq*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) - (4*Ld*Lq*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Ld*Lq*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Ld*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld^2*q1) - (3*Lq*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld^2*q1) - (Ld*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld^2*q2) + (3*Ld*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq^2*q2) - (4*Ld^2*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) + (5*Ld^2*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) + (5*Lq^2*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) + (3*Ld*(cht^2 + q5)*dt^2*hia*hib*kpp^2*psi)/(J^2*q3) - (3*Lq*(cht^2 + q5)*dt^2*hia*hib*kpp^2*psi)/(J^2*q3) - (Ld*cht*dt^2*(hia^2 + q1)*kpp^2*psi*sht)/(J^2*q3) + (3*Ld*cht*dt^2*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) + (Lq*cht*dt^2*(hia^2 + q1)*kpp^2*psi*sht)/(J^2*q3) - (3*Lq*cht*dt^2*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) - (Ld*dt^2*hia*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (Lq*dt^2*hia*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (4*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (10*Ld*Lq*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3);

            D11(3,1) = D11(1,3);
            D11(3,2) = D11(2,3);
            D11(3,3) = 1/q3 + ((cht^2 + q5)*dt^2)/q4 + (dt^2*(hib^2 + q2))/q1 + (dt^2*(hia^2 + q1))/q2 + (dt^2*(sht^2 + q4))/q5 + ((cht^2 + q5)*dt^2*psi^2)/(Lq^2*q2) + (dt^2*psi^2*(sht^2 + q4))/(Lq^2*q1) - (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(sht^2 + q4))/q2 - (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(sht^2 + q4))/q2 - (2*Lq*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Ld*q1) - (2*Ld*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Lq*q2) - (2*Ld*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq*q1) - (2*Lq*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld*q2) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hib^2 + q2))/(Ld^2*q1) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hia^2 + q1))/(Lq^2*q2) - (2*cht*dt^2*hia*psi)/(Lq*q2) + (Ld^2*dt^2*(hib^2 + q2)*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (2*dt^2*hib*psi*sht)/(Lq*q1) - (2*cht*dt^2*hia*hib*(sht^3 + 3*sht*q4))/q1 + (2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*sht)/q1 + (2*cht*dt^2*hia*hib*(sht^3 + 3*sht*q4))/q2 - (2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*sht)/q2 + (2*Ld*(cht^3 + 3*cht*q5)*dt^2*hia*psi)/(Lq^2*q2) + (2*Ld*dt^2*hib*psi*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq^2*q2) - (2*cht*dt^2*hia*psi*(sht^2 + q4))/(Ld*q1) + (2*(cht^2 + q5)*dt^2*hib*psi*sht)/(Ld*q1) + (2*cht*dt^2*hia*psi*(sht^2 + q4))/(Ld*q2) - (2*(cht^2 + q5)*dt^2*hib*psi*sht)/(Ld*q2) - (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*sht)/(Ld^2*q1) + (2*Ld^2*cht*dt^2*hia*hib*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (2*Lq^2*cht*dt^2*hia*hib*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*sht)/(Lq^2*q2) - (2*Ld*cht*dt^2*hia*hib*sht)/(Lq*q1) + (2*Lq*cht*dt^2*hia*hib*sht)/(Ld*q1) - (2*Ld*cht*dt^2*hia*hib*sht)/(Lq*q2) + (2*Lq*cht*dt^2*hia*hib*sht)/(Ld*q2) + (2*Ld*cht*dt^2*hia*psi*(sht^2 + q4))/(Lq^2*q1) + (2*Ld*(cht^2 + q5)*dt^2*hib*psi*sht)/(Lq^2*q2);
            D11(3,4) = (cht*dt)/q4 + (dt^2*hom*sht)/q5 + (Rs*cht*dt^2*(hib^2 + q2))/(Ld*q1) - (Rs*cht*dt^2*(hia^2 + q1))/(Ld*q2) - (Rs*cht*dt^2*(hib^2 + q2))/(Lq*q1) + (Rs*cht*dt^2*(hia^2 + q1))/(Lq*q2) + (dt^2*hom*psi^2*sht)/(Lq^2*q1) - (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom*sht)/q1 + (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom*sht)/q1 + (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom*sht)/q2 - (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom*sht)/q2 + (Rs*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2))/(Ld*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1))/(Lq*q2) - (dt*hia*kpp*psi)/(J*q3) - (dt^2*hib*hom*psi)/(Lq*q1) + ((cht^3 + 3*cht*q5)*dt^2*hia*hib*hom)/q1 - ((cht^3 + 3*cht*q5)*dt^2*hia*hib*hom)/q2 - (Ld*cht*dt*(hia^2 + q1)*kpp)/(J*q3) + (Ld*cht*dt*(hib^2 + q2)*kpp)/(J*q3) + (Lq*cht*dt*(hia^2 + q1)*kpp)/(J*q3) - (Lq*cht*dt*(hib^2 + q2)*kpp)/(J*q3) - (2*Rs*dt^2*hia*hib*sht)/(Ld*q2) + (2*Rs*dt^2*hia*hib*sht)/(Lq*q1) + (2*Ld^2*dt^2*(hib^2 + q2)*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq^2*dt^2*(hia^2 + q1)*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (3*cht*dt^2*hia*hib*hom*(sht^2 + q4))/q1 + (3*cht*dt^2*hia*hib*hom*(sht^2 + q4))/q2 - (Rs*(cht^2 + q5)*dt^2*hia*psi)/(Lq^2*q2) - (2*Ld*dt^2*(hib^2 + q2)*hom*sht)/(Lq*q1) - (2*Lq*dt^2*(hia^2 + q1)*hom*sht)/(Ld*q2) - (2*Rs*dt^2*hia*psi*(sht^2 + q4))/(Lq^2*q1) + ((cht^2 + q5)*dt^2*hib*hom*psi)/(Ld*q1) - ((cht^2 + q5)*dt^2*hib*hom*psi)/(Ld*q2) - (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2))/(Ld^2*q1) - (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1))/(Lq^2*q2) + (2*Rs*cht*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld*q1) - (Rs*cht*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld*q2) - (Rs*cht*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq*q1) + (2*Rs*cht*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq*q2) + (3*Ld*dt^2*hib*hom*psi*(sht^2 + q4))/(Lq^2*q1) + (Rs*(cht^2 + q5)*dt^2*hia*psi)/(Ld*Lq*q2) - (2*Ld*dt*hia*hib*kpp*sht)/(J*q3) + (2*Lq*dt*hia*hib*kpp*sht)/(J*q3) - (2*Ld*Rs*cht*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Lq^2*q1) + (Ld*Rs*cht*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*cht*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld^2*q2) - (2*Lq*Rs*cht*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld^2*q2) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*hom)/(Ld^2*q1) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*hom)/(Lq^2*q2) - (Ld*cht*dt^2*hia*hib*hom)/(Lq*q1) + (Lq*cht*dt^2*hia*hib*hom)/(Ld*q1) - (Ld*cht*dt^2*hia*hib*hom)/(Lq*q2) + (Lq*cht*dt^2*hia*hib*hom)/(Ld*q2) + (Rs*cht*dt^2*hib*psi*sht)/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom*sht)/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom*sht)/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom*sht)/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom*sht)/(Lq^2*q2) - (2*cht*dt^2*hia*hom*psi*sht)/(Ld*q1) + (2*cht*dt^2*hia*hom*psi*sht)/(Ld*q2) - (2*Ld*Rs*dt^2*hia*hib*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hib*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Ld*(cht^2 + q5)*dt^2*hib*hom*psi)/(Lq^2*q2) - (3*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Ld*q1) + (Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Lq*q1) + (3*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Lq*q2) + (2*Ld*cht*dt^2*hia*hom*psi*sht)/(Lq^2*q1) + (Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Ld^2*q1) - (Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Ld^2*q2) - (Rs*cht*dt^2*hib*psi*sht)/(Ld*Lq*q1) + (2*Rs*cht*dt^2*hib*psi*sht)/(Ld*Lq*q2) + (3*Ld^2*cht*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq^2*q1) - (3*Lq^2*cht*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld^2*q2);
            D11(3,5) = (cht*dt^2*hom)/q4 - (dt*sht)/q5 - (dt^2*hia*hib*hom*(sht^3 + 3*sht*q4))/q1 + (dt^2*hia*hib*hom*(sht^3 + 3*sht*q4))/q2 + (Rs*dt^2*(hib^2 + q2)*sht)/(Ld*q1) - (Rs*dt^2*(hia^2 + q1)*sht)/(Ld*q2) - (Rs*dt^2*(hib^2 + q2)*sht)/(Lq*q1) + (Rs*dt^2*(hia^2 + q1)*sht)/(Lq*q2) + (cht*dt^2*hom*psi^2)/(Lq^2*q2) - (2*cht*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/q1 + (2*cht*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/q1 + (2*cht*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/q2 - (2*cht*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/q2 + (dt*hib*kpp*psi)/(J*q3) - (Rs*dt^2*(hia^2 + q1)*(sht^3 + 3*sht*q4))/(Ld*q2) - (Rs*dt^2*(hib^2 + q2)*(sht^3 + 3*sht*q4))/(Lq*q1) - (dt^2*hia*hom*psi)/(Lq*q2) + (2*Rs*cht*dt^2*hia*hib)/(Ld*q1) - (2*Rs*cht*dt^2*hia*hib)/(Lq*q2) - (Ld*dt*(hia^2 + q1)*kpp*sht)/(J*q3) + (Ld*dt*(hib^2 + q2)*kpp*sht)/(J*q3) + (Lq*dt*(hia^2 + q1)*kpp*sht)/(J*q3) - (Lq*dt*(hib^2 + q2)*kpp*sht)/(J*q3) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2)*hom)/(Ld^2*q1) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hom)/(Lq^2*q2) + (3*(cht^2 + q5)*dt^2*hia*hib*hom*sht)/q1 - (3*(cht^2 + q5)*dt^2*hia*hib*hom*sht)/q2 - (2*Lq*cht*dt^2*(hib^2 + q2)*hom)/(Ld*q1) - (2*Ld*cht*dt^2*(hia^2 + q1)*hom)/(Lq*q2) + (2*Rs*(cht^2 + q5)*dt^2*hib*psi)/(Lq^2*q2) + (Rs*dt^2*hib*psi*(sht^2 + q4))/(Lq^2*q1) - (dt^2*hia*hom*psi*(sht^2 + q4))/(Ld*q1) + (dt^2*hia*hom*psi*(sht^2 + q4))/(Ld*q2) + (Ld*Rs*dt^2*(hib^2 + q2)*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (Lq*Rs*dt^2*(hia^2 + q1)*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*sht)/(Ld*q1) - (2*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*sht)/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*sht)/(Lq*q1) + (Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*sht)/(Lq*q2) + (Ld*dt^2*hia*hom*psi*(sht^2 + q4))/(Lq^2*q1) + (2*Ld*cht*dt*hia*hib*kpp)/(J*q3) - (2*Lq*cht*dt*hia*hib*kpp)/(J*q3) + (2*Lq*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*sht)/(Ld^2*q1) - (Lq*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*sht)/(Ld^2*q1) - (Ld*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*sht)/(Lq^2*q2) + (2*Ld*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*sht)/(Lq^2*q2) - (Rs*dt^2*hib*psi*(sht^2 + q4))/(Ld*Lq*q1) + (Ld^2*dt^2*hia*hib*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq^2*dt^2*hia*hib*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (Ld*dt^2*hia*hib*hom*sht)/(Lq*q1) + (Lq*dt^2*hia*hib*hom*sht)/(Ld*q1) - (Ld*dt^2*hia*hib*hom*sht)/(Lq*q2) + (Lq*dt^2*hia*hib*hom*sht)/(Ld*q2) - (Rs*cht*dt^2*hia*psi*sht)/(Lq^2*q2) + (Lq^2*cht*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*cht*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Lq^2*q1) + (Lq^2*cht*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*cht*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Lq^2*q2) + (2*cht*dt^2*hib*hom*psi*sht)/(Ld*q1) - (2*cht*dt^2*hib*hom*psi*sht)/(Ld*q2) - (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hib)/(Ld^2*q1) + (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hib)/(Lq^2*q2) + (3*Ld*(cht^2 + q5)*dt^2*hia*hom*psi)/(Lq^2*q2) - (Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Ld*q1) + (3*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Ld*q2) - (3*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Lq*q1) + (Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Lq*q2) + (2*Ld*cht*dt^2*hib*hom*psi*sht)/(Lq^2*q2) + (Ld*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Ld^2*q1) - (Ld*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Ld^2*q2) - (2*Rs*cht*dt^2*hia*psi*sht)/(Ld*Lq*q1) + (Rs*cht*dt^2*hia*psi*sht)/(Ld*Lq*q2) - (3*Lq^2*(cht^2 + q5)*dt^2*hia*hib*hom*sht)/(Ld^2*q1) + (3*Ld^2*(cht^2 + q5)*dt^2*hia*hib*hom*sht)/(Lq^2*q2);

            D11(4,1) = D11(1,4);
            D11(4,2) = D11(2,4);
            D11(4,3) = D11(3,4);
            D11(4,4) = 1/q4 + (dt^2*(hom^2 + q3))/q5 + (dt^2*(hom^2 + q3)*psi^2)/(Lq^2*q1) - (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hom^2 + q3))/q1 - (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(hom^2 + q3))/q2 + (dt^2*(hia^2 + q1)*kpp^2*psi^2)/(J^2*q3) + (Rs^2*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Ld^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Ld^2*q2) + (Rs^2*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Lq^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Lq^2*q2) + (4*Rs^2*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld^2*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Lq^2*q1) - (4*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/q1 + (4*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/q2 - (2*Rs^2*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Ld*Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Ld*Lq*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2)/(J^2*q3) + (Ld^2*(cht^2 + q5)*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hom^2 + q3))/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hom^2 + q3))/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Lq^2*q2) - (2*cht*dt^2*hia*(hom^2 + q3)*psi)/(Ld*q1) + (4*Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) + (4*Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (4*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Ld*q1) - (4*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Ld*q2) - (4*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Lq*q1) + (4*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Lq*q2) + (4*Ld*dt^2*hib*(hom^2 + q3)*psi*sht)/(Lq^2*q1) + (2*Ld*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*psi)/(J^2*q3) - (2*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*psi)/(J^2*q3) - (2*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) - (2*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) + (4*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^2 + q5)*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2)/(J^2*q3) - (2*Ld*Lq*(cht^2 + q5)*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2)/(J^2*q3) + (2*Rs*cht*dt^2*hib*hom*psi)/(Lq^2*q1) - (4*Rs*dt^2*hia*hom*psi*sht)/(Lq^2*q1) - (2*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld*q1) + (2*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq*q1) + (2*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq*q2) + (2*Ld*cht*dt^2*hia*(hom^2 + q3)*psi)/(Lq^2*q1) + (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld^2*q2) - (4*Rs^2*cht*dt^2*hia*hib*sht)/(Lq^2*q1) - (4*Ld^2*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (4*Ld^2*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (4*Lq^2*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3) + (2*Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq^2*q1) + (2*Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld^2*q1) - (2*Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq^2*q2) - (2*Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld^2*q2) - (2*Rs*cht*dt^2*hib*hom*psi)/(Ld*Lq*q1) - (4*Ld*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Lq^2*q1) + (4*Ld*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Lq^2*q1) + (4*Lq*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Ld^2*q2) - (4*Lq*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Ld^2*q2) - (8*Ld*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq^2*q1) + (8*Lq*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld^2*q2) + (4*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) - (8*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld*Lq*q1) - (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld*Lq*q2) - (2*Ld*cht*dt^2*hia*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (2*Lq*cht*dt^2*hia*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (4*Ld^2*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/(Lq^2*q1) - (4*Lq^2*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/(Ld^2*q2) + (4*Ld*dt^2*(hia^2 + q1)*hib*kpp^2*psi*sht)/(J^2*q3) - (4*Lq*dt^2*(hia^2 + q1)*hib*kpp^2*psi*sht)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (8*Ld*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3);
            D11(4,5) = (dt*hom)/q4 - (dt*hom)/q5 + (2*(cht^2 + q5)*dt^2*hia*hib*(hom^2 + q3))/q1 - (2*(cht^2 + q5)*dt^2*hia*hib*(hom^2 + q3))/q2 - (2*cht*dt^2*(hia^2 + q1)*(hom^2 + q3)*sht)/q1 + (4*cht*dt^2*(hib^2 + q2)*(hom^2 + q3)*sht)/q1 + (4*cht*dt^2*(hia^2 + q1)*(hom^2 + q3)*sht)/q2 - (2*cht*dt^2*(hib^2 + q2)*(hom^2 + q3)*sht)/q2 - (2*dt^2*hia*hib*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*dt^2*hia*hib*(hom^2 + q3)*(sht^2 + q4))/q2 - (dt^2*hia*hib*kpp^2*psi^2)/(J^2*q3) + (2*cht*dt^2*hib*(hom^2 + q3)*psi)/(Ld*q1) - (cht*dt^2*hib*(hom^2 + q3)*psi)/(Ld*q2) - (dt^2*hia*(hom^2 + q3)*psi*sht)/(Ld*q1) + (2*dt^2*hia*(hom^2 + q3)*psi*sht)/(Ld*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*hia*hib)/(Ld^2*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*hia*hib)/(Lq^2*q2) + (2*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom)/(Ld*q1) - (2*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom)/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom)/(Lq*q1) + (2*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom)/(Lq*q2) + (Rs^2*cht*dt^2*(hib^2 + q2)*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*(hia^2 + q1)*sht)/(Ld^2*q2) + (Rs^2*cht*dt^2*(hib^2 + q2)*sht)/(Lq^2*q1) + (Rs^2*cht*dt^2*(hia^2 + q1)*sht)/(Lq^2*q2) + (2*Rs^2*dt^2*hia*hib*(sht^2 + q4))/(Ld^2*q2) - (2*Rs^2*dt^2*hia*hib*(sht^2 + q4))/(Lq^2*q1) + (2*Rs*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Ld*q1) - (2*Rs*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Ld*q2) - (2*Rs*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Lq*q1) + (2*Rs*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Lq*q2) + (Ld*dt^2*hia*(hom^2 + q3)*psi*sht)/(Lq^2*q1) + (2*Ld^2*(cht^2 + q5)*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) - (2*Ld^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2)/(J^2*q3) + (2*Lq^2*(cht^2 + q5)*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) - (2*Lq^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2)/(J^2*q3) - (2*Ld^2*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Ld^2*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Lq^2*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Lq^2*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Lq*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom)/(Ld^2*q1) - (2*Lq*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom)/(Ld^2*q1) - (2*Ld*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom)/(Lq^2*q2) + (2*Ld*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom)/(Lq^2*q2) - (2*Ld*Rs*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Lq^2*q1) + (2*Ld*Rs*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Ld^2*q2) - (2*Lq*Rs*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Ld^2*q2) + (Ld*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*psi)/(J^2*q3) - (Lq*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*psi)/(J^2*q3) + (Ld*dt^2*(hia^3 + 3*hia*q1)*kpp^2*psi*sht)/(J^2*q3) - (Lq*dt^2*(hia^3 + 3*hia*q1)*kpp^2*psi*sht)/(J^2*q3) - (2*Rs^2*(cht^2 + q5)*dt^2*hia*hib)/(Ld*Lq*q1) + (2*Rs^2*(cht^2 + q5)*dt^2*hia*hib)/(Ld*Lq*q2) + (4*Rs^2*cht*dt^2*(hia^2 + q1)*sht)/(Ld*Lq*q1) - (2*Rs^2*cht*dt^2*(hib^2 + q2)*sht)/(Ld*Lq*q1) - (2*Rs^2*cht*dt^2*(hia^2 + q1)*sht)/(Ld*Lq*q2) + (4*Rs^2*cht*dt^2*(hib^2 + q2)*sht)/(Ld*Lq*q2) - (Rs*cht*dt^2*hia*hom*psi)/(Lq^2*q2) + (2*Rs^2*dt^2*hia*hib*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*dt^2*hia*hib*(sht^2 + q4))/(Ld*Lq*q2) + (Rs*dt^2*hib*hom*psi*sht)/(Lq^2*q1) - (2*Lq^2*(cht^2 + q5)*dt^2*hia*hib*(hom^2 + q3))/(Ld^2*q1) + (2*Ld^2*(cht^2 + q5)*dt^2*hia*hib*(hom^2 + q3))/(Lq^2*q2) + (Ld^2*cht*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*sht)/(J^2*q3) + (Ld^2*cht*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*sht)/(J^2*q3) + (Lq^2*cht*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*sht)/(J^2*q3) + (Lq^2*cht*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*sht)/(J^2*q3) + (Lq^2*cht*dt^2*(hia^2 + q1)*(hom^2 + q3)*sht)/(Ld^2*q1) + (Ld^2*cht*dt^2*(hia^2 + q1)*(hom^2 + q3)*sht)/(Lq^2*q1) + (Lq^2*cht*dt^2*(hib^2 + q2)*(hom^2 + q3)*sht)/(Ld^2*q2) + (Ld^2*cht*dt^2*(hib^2 + q2)*(hom^2 + q3)*sht)/(Lq^2*q2) + (2*Ld^2*dt^2*hia*hib*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) - (2*Lq^2*dt^2*hia*hib*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Ld*cht*dt^2*hib*(hom^2 + q3)*psi)/(Lq^2*q2) + (4*Ld*Lq*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (6*Rs*cht*dt^2*hia*hib*hom*sht)/(Ld*q1) + (6*Rs*cht*dt^2*hia*hib*hom*sht)/(Ld*q2) - (6*Rs*cht*dt^2*hia*hib*hom*sht)/(Lq*q1) + (6*Rs*cht*dt^2*hia*hib*hom*sht)/(Lq*q2) - (2*Rs*cht*dt^2*hia*hom*psi)/(Ld*Lq*q1) + (Rs*cht*dt^2*hia*hom*psi)/(Ld*Lq*q2) - (Rs*dt^2*hib*hom*psi*sht)/(Ld*Lq*q1) + (2*Rs*dt^2*hib*hom*psi*sht)/(Ld*Lq*q2) - (6*Ld^2*cht*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (6*Lq^2*cht*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (2*Ld*Lq*cht*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*sht)/(J^2*q3) - (2*Ld*Lq*cht*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*sht)/(J^2*q3) - (3*Ld*cht*dt^2*(hia^2 + q1)*hib*kpp^2*psi)/(J^2*q3) + (3*Lq*cht*dt^2*(hia^2 + q1)*hib*kpp^2*psi)/(J^2*q3) - (3*Ld*dt^2*hia*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) + (3*Lq*dt^2*hia*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) - (4*Ld*Lq*(cht^2 + q5)*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) + (4*Ld*Lq*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2)/(J^2*q3) + (2*Ld*Rs*cht*dt^2*hia*hib*hom*sht)/(Lq^2*q1) + (2*Lq*Rs*cht*dt^2*hia*hib*hom*sht)/(Ld^2*q1) - (2*Ld*Rs*cht*dt^2*hia*hib*hom*sht)/(Lq^2*q2) - (2*Lq*Rs*cht*dt^2*hia*hib*hom*sht)/(Ld^2*q2) + (12*Ld*Lq*cht*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*sht)/(J^2*q3);

            D11(5,1) = D11(1,5);
            D11(5,2) = D11(2,5);
            D11(5,3) = D11(3,5);
            D11(5,4) = D11(4,5);
            D11(5,5) = 1/q5 + (dt^2*(hom^2 + q3))/q4 + (dt^2*(hom^2 + q3)*psi^2)/(Lq^2*q2) - (2*dt^2*(hia^2 + q1)*(hom^2 + q3)*(sht^2 + q4))/q1 - (2*dt^2*(hib^2 + q2)*(hom^2 + q3)*(sht^2 + q4))/q2 + (dt^2*(hib^2 + q2)*kpp^2*psi^2)/(J^2*q3) + (4*Rs^2*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Ld^2*q1) + (4*Rs^2*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Lq^2*q2) + (Rs^2*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld^2*q1) + (Rs^2*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld^2*q2) + (Rs^2*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq^2*q1) + (Rs^2*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Lq^2*q2) + (4*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/q1 - (4*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/q2 - (2*Rs^2*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld*Lq*q2) + (4*Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Ld^2*q1) + (4*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hom^2 + q3))/(Lq^2*q2) + (Ld^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Ld^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Lq^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Lq^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) + (Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q2) - (2*dt^2*hib*(hom^2 + q3)*psi*sht)/(Ld*q2) + (4*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Ld*q1) - (4*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Ld*q2) - (4*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Lq*q1) + (4*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Lq*q2) - (2*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld*q1) + (2*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld*q2) - (2*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq*q1) + (2*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq*q2) + (2*Ld*dt^2*hib*(hom^2 + q3)*psi*sht)/(Lq^2*q2) + (2*Ld*dt^2*(hib^3 + 3*hib*q2)*kpp^2*psi*sht)/(J^2*q3) - (2*Lq*dt^2*(hib^3 + 3*hib*q2)*kpp^2*psi*sht)/(J^2*q3) + (4*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) + (4*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) - (2*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Rs*cht*dt^2*hib*hom*psi)/(Lq^2*q2) - (2*Rs*dt^2*hia*hom*psi*sht)/(Lq^2*q2) + (4*Ld*cht*dt^2*hia*(hom^2 + q3)*psi)/(Lq^2*q2) + (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld^2*q1) - (4*Rs^2*cht*dt^2*hia*hib*sht)/(Lq^2*q2) + (4*Ld^2*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (4*Ld^2*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3) + (4*Lq^2*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3) - (8*Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld^2*q1) + (8*Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq^2*q2) + (4*Lq*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Ld^2*q1) - (4*Lq*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Ld^2*q1) - (4*Ld*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Lq^2*q2) + (4*Ld*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Lq^2*q2) + (2*Ld*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld^2*q1) - (2*Ld*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq^2*q2) - (2*Lq*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld^2*q2) - (8*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) + (2*Rs*dt^2*hia*hom*psi*sht)/(Ld*Lq*q2) + (4*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld*Lq*q1) + (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld*Lq*q2) + (4*Ld*cht*dt^2*hia*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) - (4*Lq*cht*dt^2*hia*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) - (4*Lq^2*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/(Ld^2*q1) + (4*Ld^2*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/(Lq^2*q2) - (2*Ld*dt^2*(hia^2 + q1)*hib*kpp^2*psi*sht)/(J^2*q3) + (2*Lq*dt^2*(hia^2 + q1)*hib*kpp^2*psi*sht)/(J^2*q3) - (8*Ld*Lq*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3);

            D12 = -A92'*iQ5;
            D21 = D12';
            D22 = iQ5 + C5'*iR*C5;

            Jj12 = D22 - D21/(Jj12 + D11)*D12;
            tmp = inv(Jj12);        
            iJn12(1,t) = tmp(3,3);
            iJn12(2,t) = tmp(4,4);
            iJn12(3,t) = tmp(5,5);
        end

        %control & simulation
        if(control == 1) %ome = ref_ome, the = integral(ome), ial=ibe=0
            x_sys(1, t+1) = 0;
            x_sys(2, t+1) = 0;
            x_sys(3, t+1) = ref_ome(t);
            x_sys(4, t+1) = the + dt*ome;
        else
            if(control == 6) %rnd. err. ref_ome
               ref_ome(t) = ref_ome(t) + amp*randn(); 
            end

            %PI (only PI for control == 2)        
            sum_iq = sum_iq + ref_ome(t) - ome;
            ref_iq = kon_pi*(ref_ome(t) - ome) + kon_ii*sum_iq;
            sum_ud = sum_ud - id;
            u_dq(1, t) = kon_pu*(-id) + kon_iu*sum_ud;
            sum_uq = sum_uq + ref_iq - iq;
            u_dq(2, t) = kon_pu*(ref_iq - iq) + kon_iu*sum_uq;
            u_dq(1, t) = u_dq(1, t) - Ls*ome*ref_iq;
            u_dq(2, t) = u_dq(2, t) + psipm*ome;        

            if(control == 3) %inj. sin -> dq
                u_dq(1,t) = u_dq(1,t) + amp*sin(injom*dt*t);
                u_dq(2,t) = u_dq(2,t) + amp*cos(injom*dt*t);
            elseif(control == 4) %inj. rect. -> dq
                u_dq(1,t) = u_dq(1,t) + amp*sign(sin(injom*dt*t));
                u_dq(2,t) = u_dq(2,t) + amp*sign(cos(injom*dt*t));
            elseif(control == 5) %inj. const. -> d
    %             u_dq(1,t) = 0.1*Ld/dt - (1.0*Ld/dt - Rs)*id - Lq*ome*iq;
                u_dq(1,t) = amp;            
            elseif(control == 9) %bic. sign. ome           
                u_dq(1,t) = u_dq(1,t) - amp*sign(ome);
                u_dq(2,t) = u_dq(2,t) + amp*sign(ome);
            end

            ual = u_dq(1,t)*cos(the) - u_dq(2,t)*sin(the);
            ube = u_dq(1,t)*sin(the) + u_dq(2,t)*cos(the);

            if(control == 7) %inj. sin -> al-be
                ual = ual + amp*cos(injom*dt*t);
                ube = ube + amp*sin(injom*dt*t);
            elseif(control == 8) %inj. rect. -> al-be
                ual = ual + amp*sign(cos(injom*dt*t));
                ube = ube + amp*sign(sin(injom*dt*t));        
            elseif((control == 10)&&(rand() > (1/5))) %bic rnd. 5
                duab = sign(rand(2,1)-0.5)*amp;
                ual = ual + duab(1);
                ube = ube + duab(2);
            end

            ud = ual*cos(the) + ube*sin(the);
            uq = ube*cos(the) - ual*sin(the);

            %simulation model Ldq
            idpl = (1.0 - Rs*dt/Ld)*id + Lq*dt/Ld*ome*iq + dt/Ld*ud;
            iqpl = (1.0 - Rs*dt/Lq)*iq - psipm*dt/Lq*ome - Ld*dt/Lq*ome*id + dt/Lq*uq;

            x_sys(1, t+1) = idpl*cos(the) - iqpl*sin(the);
            x_sys(2, t+1) = idpl*sin(the) + iqpl*cos(the);
            x_sys(3, t+1) = (1.0-B*dt/J)*ome + kp*pp*pp*dt/J*((Ld-Lq)*id*iq + psipm*iq);
            x_sys(4, t+1) = the + dt*ome;
        end

    end

    ssz = sum(model);
    var_ome = zeros(T,ssz);
    var_th = zeros(T,ssz);
    var_th2 = zeros(T,ssz);
    ind = 1;
    if(model(1) == 1)
        var_ome(:,ind) = iJn1(1,:);
        var_th(:,ind) = iJn1(2,:);   
        ind = ind+1;
    end
    if(model(2) == 1)
        var_ome(:,ind) = iJn2(1,:);
        var_th(:,ind) = iJn2(2,:);
        ind = ind+1;
    end
    if(model(3) == 1)
        var_ome(:,ind) = iJn3(1,:);
        var_th(:,ind) = iJn3(2,:);   
        var_th2(:,ind) = iJn3(3,:); 
        ind = ind+1;
    end
    if(model(4) == 1)
        var_ome(:,ind) = iJn4(1,:);
        var_th(:,ind) = iJn4(2,:);
        ind = ind+1;
    end
    if(model(5) == 1)
        var_ome(:,ind) = iJn5(1,:);
        var_th(:,ind) = iJn5(2,:);
        ind = ind+1;
    end
    if(model(6) == 1)
        var_ome(:,ind) = iJn6(1,:);
        var_th(:,ind) = iJn6(2,:);   
        var_th2(:,ind) = iJn6(3,:); 
        ind = ind+1;
    end
    if(model(7) == 1)
        var_ome(:,ind) = iJn7(1,:);
        var_th(:,ind) = iJn7(2,:);
        ind = ind+1;
    end
    if(model(8) == 1)
        var_ome(:,ind) = iJn8(1,:);
        var_th(:,ind) = iJn8(2,:);
        ind = ind+1;
    end
    if(model(9) == 1)
        var_ome(:,ind) = iJn9(1,:);
        var_th(:,ind) = iJn9(2,:);   
        var_th2(:,ind) = iJn9(3,:); 
        ind = ind+1;
    end
    if(model(10) == 1)
        var_ome(:,ind) = iJn10(1,:);
        var_th(:,ind) = iJn10(2,:);
        ind = ind+1;
    end
    if(model(11) == 1)
        var_ome(:,ind) = iJn11(1,:);
        var_th(:,ind) = iJn11(2,:);
        ind = ind+1;
    end
    if(model(12) == 1)
        var_ome(:,ind) = iJn12(1,:);
        var_th(:,ind) = iJn12(2,:);   
        var_th2(:,ind) = iJn12(3,:);         
    end
    
end