

A=[-0.0999 0.0000 0.1153 -1.0;
	-1.6038 -1.0932 0.0 0.2850;
	0.0       1.0   0.0 0.0; 
    0.4089 -0.0395  0.0 -0.2454];

dt=0.05;
tf=40;
u(:,1)=[0 0 0 0.01]';
i=2;

for t=0:dt:tf
    u(:,i)= u(:,i-1)+A*u(:,i-1)*dt;
    i=i+1;
end

ip=1:(i-1);
plot(dt*(ip-1), u(3,ip))
hold on
plot(dt*(ip-1), u(4,ip),'r')

xlabel('time')
legend('roll', 'yaw')





