%% systm_robot
%% param :
%% t -> time
%% x -> state
%% d -> distance antara robot nya
%% R, K -> return dari fungsi rigidityMatrixFnc()
%% kp -> konstanta proporsional
%% ki -> konstanta integral
%% B -> matrix selctor vref
%% vref -> kecepatan refrensi
function dxdt = systm_robot(t,x,d,R,K,kp,ki,B,vref)
  n = length(K(1,:))/2;
  l = length(R(ones(n*2,1),K));
  m = length(K(:,1))/2;
  dxdt = zeros(l,1);
  x1 = x(1:n*2);
  x2 = x(length(x1)+1:length(x));
  dxdt(1:length(x1)) = -((kp*R(x1,K)'*R(x1,K))*x1)-(R(x1,K)'*x2)+((kp*R(x1,K)')*d)+(B*vref);
  dxdt(length(x1)+1:length(x)) = ki*R(x1,K)*x1-(ki*d);
endfunction