FICP:

Path: SC/DemoFuns

% Single pendulum using independent coordinates

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   Form:
   qDot = FICP( q, t, L, g )
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   ------
   Inputs
   ------
   q            (2,1)     The state vector [q;qDot]
   t            (1,1)     Time
   L            (1,1)     Pendulum length
   g            (1,1)     Acceleration of gravity

   -------
   Outputs
   -------
   qDot         (2,1)     The derivative of the state vector

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