function dy=Masy(x,t)
ws=20*pi;
%%%%%%%%%%%%%%%%%%%%%%%%%lie au rotor
%
% tetas=x(7);
% dtetar=0;
% dtetas=x(8);
% ***********************************lie au stator
tetas=0;
dtetar=-x(7);
dtetas=0;
%%%%%%%%%%%%%%%%%liee au champ
% tetas=ws*t;
% dtetas=ws;
% dtetar=dtetas-x(5);
%Cr=0*(t>0&t<2)+40*(t>2);
%Parameters
pp=3;lp=0.008;Rp=0.81;Mp=0.89E-3;
pc=1;lc=0.0063;Rc=0.81;Mc=4.3E-3;
lr=0.04E-3;Rr=0.00157;J=0.05;Cr=0;
R= [Rp 0 0 0 0 0;
0 Rp 0 0 0 0;
0 0 Rc 0 0 0;
0 0 0 Rc 0 0;
0 0 0 0 Rr 0;
0 0 0 0 0 Rr];
Lt=[lp 0 0 0 Mp 0;
0 lp 0 0 0 Mp;
0 0 lc 0 -Mc 0;
0 0 0 lc 0 Mc;
Mp 0 -Mc 0 lr 0;
0 Mp 0 Mc 0 lr];
Msr=[0 pc*dtetar*lp 0 0 0 pp*dtetar*Mp;
-pp*dtetar*lp 0 0 0 -pp*dtetar*Mp 0 ;
0 0 0 pc*dtetar*lc 0 pc*dtetar*Mc;
0 0 -pc*dtetar*lc 0 pc*dtetar*Mc 0 ;
0 0 0 0 0 0 ;
0 0 0 0 0 0] ;
%%%%%%%%%%%%%%%%%%%%%%%%fondamental+harmoniques%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%fondamental
vsa=8.8*sqrt(2)*cos(ws*t);
vsb=8.8*sqrt(2)*cos(ws*t-2*pi/3);
vsc=8.8*sqrt(2)*cos(ws*t+2*pi/3);
vsd2=sqrt(2/3)*(cos(pc*tetas)*vsa+cos(pc*tetas-2*pi/3)*vsb+cos(pc*tetas+2*pi/3)*vsc);
vsq2=sqrt(2/3)*(sin(pc*tetas)*vsa+sin(pc*tetas-2*pi/3)*vsb+sin(pc*tetas+2*pi/3)*vsc);
V=[0;0;vsq2;vsd2;0;0];
xx=[x(1);x(2);x(3);x(4);x(5);x(6)];
dy1=pinv(Lt)*(V-(R+Msr)*xx);
Cem1=pp*Mp*((x(1)*x(6))-(x(2)*x(5)))+pc*Mc*((x(3)*x(6))-x(6)-(x(4)*x(6)));
dy2=(1/J)*(Cem1-Cr);
dy3=x(7);
dy=[dy1;dy2;dy3];