function [t,y,Dd,DdNorm] = run_my_simulation(bParam)
  algo = 0;
  d = [[]];
  ang = [];
  save_state = [];
  save algo_info.m algo d ang save_state;
  
  robStateLen = size(bParam.model.origin.A,1);

  % fvref = fncSpeedRef('ysin',50,2,robStateLen);
  % fvref = fncSpeedRef('xsin',50,2,robStateLen);
  % fvref = fncSpeedRef('cw',-300,1,robStateLen);
  % fvref = fncSpeedRef('s',50,50,robStateLen);
  fvref = fncSpeedRef('s',0,0,robStateLen);

  ## sys = formationControl2ndBuilder(bParam);
  % sys = formationControl1stBuilder(bParam);
  sys = formationControl2ndModelBuilder(bParam);
  % sys = formationControl1stModelBuilder(bParam);

  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang nduwur

  _zero = zeros(size(sys.R(bParam.corRobot,sys.K),1),1);
  sInit = [bParam.corRobot; _zero;];
  s1stInit = [bParam.corRobot; 
              zeros(size(bParam.corRobot));
              zeros(size(sys.d))];
  s2ndInit = [bParam.corRobot;
              zeros(length(bParam.corRobot),1); 
              zeros(length(bParam.corRobot),1); 
              _zero;]; 
  s2ndModelInit = [bParam.corRobot; 
                   zeros(length(bParam.corRobot),1); 
                   zeros(length(bParam.corRobot),1); 
                   _zero; 
                   zeros(length(bParam.corRobot),1);]; 

  ## state_init = s2ndInit;
  % state_init = sInit;
  state_init = s2ndModelInit;
  % state_init = s1stInit;

  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start solving

  printf("Mulai memecakan masalah \n\n");
  startExe = tic;

  % continue
  dydt = @(t, y) algo_init(sys,y,fvref(t));
  ##dydt = @(t, y) sys.ss(y,fvref(t));
  [t,y] = ode45(dydt, bParam.tspan, state_init);

  % discrate taylor methode
  ## dydt = @(t, y) sys.dss(y, bparam.hStep, fvref(t));
  ## t(1,:) = bParam.tspan(1);
  ## y(1,:) = dydt(t(1), state_init); 
  ## for i = 2:length(bParam.tspan)
  ##   t(i,:) = bParam.tspan(i);
  ##   y(i,:) = dydt(t(i),y(i-1,:)');
  ## endfor

  Dd(1,:) = [norm((sys.K*y(1,1:9)')(1:3)) norm((sys.K*y(1,1:9)')(4:6)) norm((sys.K*y(1,1:9)')(7:9))]';
  DdNorm(1) = norm(Dd(1,:));
  for i = 2:length(bParam.tspan)
    Dd(i,:) = [norm((sys.K*y(i,1:9)')(1:3)) norm((sys.K*y(i,1:9)')(4:6)) norm((sys.K*y(i,1:9)')(7:9))]';
    DdNorm(i) = norm(Dd(i,:));
  endfor

  endExe = toc(startExe);
  printf("Membutuhkan waktu %i menit, %i detik \n untuk memecahkan masalah mu  \n\n",
         floor(endExe/60), rem(endExe,60))
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% End Solving
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start plot it
endfunction