function dxdt = systm_anlys_robot(t,x,xRobot, C, ppC,d,R,K,kp,ki,B,vref)
  n = length(K(1,:))/2;
  m = length(K(:,1))/2;
  %% l = length(R(ones(n*2,1),K));
  dxdt = zeros(m*2,1);
  x1 = x(1:m);
  x2 = x(length(x1)+1:length(x));
  counter = C(0);
  %% length(x1)
  %% length(x2)
  %% if (t > 5) && (t < 15)
  %% vref = [5; 10];
  %% else
  %% if (t > 15) && (t > 20)
  %% vref = [5; -10];
  %% endif
  %% endif
  %% size(xRobot)
  dxdt(1:length(x1)) = -(2*kp*(R(xRobot(counter,:)',K)*R(xRobot(counter,:)',K)')*x1) -(2*(R(xRobot(counter,:)',K)*R(xRobot(counter,:)',K)')*x2) +((2*R(xRobot(counter,:)',K)*B)*vref);
  dxdt(length(x1)+1:length(x)) =(ki*x1);
  ppC();
endfunction