subplot(511), plot(time,u), grid on, ylabel('u [Newton]')
subplot(512), plot(time,posisi), grid on, ylabel('x1 [m]')
subplot(513), plot(time,kecepatan), grid on, ylabel('x2 [m/sec] ')
subplot(514), plot(time,teta), grid on, ylabel('x3 [derajat]')
subplot(515), plot(time,omega), grid on, ylabel('x4 [rad/sec]'), xlabel('waktu [sec]')