///withoutPrompt 
function Xd=car(t,X)
  x=X(1);xd=X(2);y=X(3);yd=X(4);th=X(5);thd=X(6);xsi=X(7);eta=X(8);
  [lam2,lam4,x0,x1,mu0,mu1,w0,w1]=fun(X);
  if ST0 then lam2=0;end
  if ST1 then lam4=0;end
  xdd=-(lam2*Fx(x0)+lam4*Fx(x1))/m
  ydd=-(m*g-lam2-lam4)/m
  thdd=-(lam2*mu0+lam4*mu1)/J
  xsid=-(k*(xsi-d)+lam2*w0)/gam
  etad=-(k*(eta-d)+lam4*w1)/gam
  Xd=[xd;xdd;yd;ydd;thd;thdd;xsid;etad]
endfunction

function s=carg(t,X)
  x=X(1);xd=X(2);y=X(3);yd=X(4);th=X(5);thd=X(6);xsi=X(7);eta=X(8);
  [lam2,lam4,x0,x1,mu0,mu1,w0,w1]=fun(X);
  if ST0 then
    s1=y-xsi*cos(th)-l2*sin(th)-F(x0)
  else
    s1=lam2
  end
  if ST1 then
    s2=y-eta*cos(th)+l2*sin(th)-F(x1)
   else
     s2=lam4
  end
  s=[s1,s2]
endfunction

function [lam2,lam4,x0,x1,mu0,mu1,w0,w1]=fun(X)
  x=X(1);xd=X(2);y=X(3);yd=X(4);th=X(5);thd=X(6);xsi=X(7);eta=X(8);
  x0=x+xsi*sin(th)-l2*cos(th)
  x1=x+eta*sin(th)+l2*cos(th)
  mu0=Fx(x0)*(xsi*cos(th)+l2*sin(th))-xsi*sin(th)+l2*cos(th)
  mu1=Fx(x1)*(eta*cos(th)-l2*sin(th))-eta*sin(th)-l2*cos(th)
  w0=Fx(x0)*sin(th)+cos(th)
  w1=Fx(x1)*sin(th)+cos(th)
  lam2=(Fx(x0)*xd-w0*k*(xsi-d)/gam+mu0*thd-yd)*gam/w0^2
  lam4=(Fx(x1)*xd-w1*k*(eta-d)/gam+mu1*thd-yd)*gam/w1^2
endfunction ///\withPrompt{}