[ (36421937228625*nl3)/185757335552 - (5959619297630421*x1o)/11888469475328 + (1

351464006944507*x4o)/11888469475328 - (3649329838010235*x6o*sin(2*x2))/237769389
50656 - (273157415375*nl3*x1o)/92878667776 + (2048375452875*nl3*x4o)/37151467110
4 + (26753758448859*x1o*x4o)/11888469475328 + (4117235058457925*x6o*cos(x2))/237
76938950656 - (6056089932125*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/23776938950656 (297242855625*nl3*x6o*cos(x2))/743029342208 + (609459173372385*x1o*x6o*cos(x2))
/23776938950656 + (1439264990325*x4o*x6o*cos(x2))/23776938950656 + (312473751875
*nl3*x6o*sin(2*x2))/1486058684416 - (6054344734355*x1o*x6o*sin(2*x2))/2377693895
0656 - (3301489436915*x4o*x6o*sin(2*x2))/23776938950656 - (1519066625*nl3*x1o*x4
o)/2902458368 + (1019200254375*nl3*x1o*x6o*sin(2*x2))/1486058684416 - (149878733
6875*nl3*x4o*x6o*sin(2*x2))/1486058684416 + (5583082861965*x1o*x4o*x6o*sin(2*x2)
)/23776938950656 + (305262409375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/14860586
84416 - (6617641146025*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/23776938950656 + (
10505283089675*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/23776938950656 - (55002303
5625*nl3*x1o*x6o*cos(x2))/743029342208 + (561558276875*nl3*x4o*x6o*cos(x2))/7430
29342208 - (5826092305615*x1o*x4o*x6o*cos(x2))/23776938950656 + (666780146875*nl
3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1486058684416 - (1061226890625*nl3*x4o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1486058684416 - (6029154738025*x1o*x4o*x6o^2*
sin(x2)*(cos(2*x2)/2 + 1/2))/23776938950656 - (10906813125*nl3*x1o*x4o*x6o*cos(x
2))/92878667776 + (834658561875*nl3*x1o*x4o*x6o*sin(2*x2))/1486058684416 + (4267
70115625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1486058684416 - 21378336
054004095557/11888469475328, (108032279165625*nl3)/23219666944 - (11072740035301
81*x1o)/92878667776 + (666664696907179*x4o)/185757335552 - (678095642687135*x6o*
sin(2*x2))/185757335552 - (1437719974125*nl3*x1o)/23219666944 + (785399354125*nl
3*x4o)/5804916736 + (6150723655527*x1o*x4o)/92878667776 + (764963139713745*x6o*c
os(x2))/185757335552 - (498912650625*nl3*x6o*cos(x2))/46439333888 + (22599178310
7505*x1o*x6o*cos(x2))/371514671104 + (130626947465*x4o*x6o*cos(x2))/46439333888
- (3087643108725*x6o^2*cos(x2)^2*sin(x2))/371514671104 + (213096024375*nl3*x6o*s
in(2*x2))/23219666944 - (1723985672615*x1o*x6o*sin(2*x2))/371514671104 - (242196
258425*x4o*x6o*sin(2*x2))/46439333888 + (1927304125*nl3*x1o*x4o)/181403648 + (31
1534619375*nl3*x1o*x6o*sin(2*x2))/23219666944 - (964928731875*nl3*x4o*x6o*sin(2*
x2))/46439333888 + (3275108741295*x1o*x4o*x6o*sin(2*x2))/371514671104 + (8723311
5625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/11609833472 - (947857484325*x1o*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 + (3433865665275*x4o*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/371514671104 - (708505201875*nl3*x1o*x6o*cos(x2))/4643933388
8 + (376451580625*nl3*x4o*x6o*cos(x2))/23219666944 - (3244827719485*x1o*x4o*x6o*
cos(x2))/371514671104 + (6117296875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/7
25614592 - (685226278125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/46439333888
- (801419995075*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 + (10413
374375*nl3*x1o*x4o*x6o*cos(x2))/23219666944 + (410484506875*nl3*x1o*x4o*x6o*sin(
2*x2))/46439333888 + (197649915625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/46439333888 - 9857704652329333093/185757335552, (14680331999875*nl3)/116098334
72 - (300788440569679*x1o)/92878667776 + (343183524323541*x4o)/371514671104 - (1
473593405366945*x6o*sin(2*x2))/1486058684416 - (1605125635625*nl3*x1o)/928786677
76 + (3391282494375*nl3*x4o)/92878667776 + (12823676563533*x1o*x4o)/743029342208
+ (415600960594755*x6o*cos(x2))/371514671104 - (1580518301275*x6o^2*sin(x2)*(co
s(2*x2)/2 + 1/2))/743029342208 - (528754009375*nl3*x6o*cos(x2))/185757335552 + (
245671207202925*x1o*x6o*cos(x2))/1486058684416 + (1017945066915*x4o*x6o*cos(x2))
/1486058684416 + (104507650625*nl3*x6o*sin(2*x2))/46439333888 - (498759879415*x1
o*x6o*sin(2*x2))/371514671104 - (970781560635*x4o*x6o*sin(2*x2))/743029342208 +
(71964932125*nl3*x1o*x4o)/46439333888 + (708105216875*nl3*x1o*x6o*sin(2*x2))/185
757335552 - (1082868799375*nl3*x4o*x6o*sin(2*x2))/185757335552 + (3280959289315*
x1o*x4o*x6o*sin(2*x2))/1486058684416 + (350821478125*nl3*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/185757335552 - (2190210477175*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
/1486058684416 + (3839990956375*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/148605868
4416 - (198759123125*nl3*x1o*x6o*cos(x2))/46439333888 + (209239760625*nl3*x4o*x6
o*cos(x2))/46439333888 - (818974195355*x1o*x4o*x6o*cos(x2))/371514671104 + (5618
4346875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/23219666944 - (384244284375*n
l3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/92878667776 - (944776307825*x1o*x4o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/743029342208 - (12272230625*nl3*x1o*x4o*x6o*cos

(x2))/185757335552 + (61838174375*nl3*x1o*x4o*x6o*sin(2*x2))/23219666944 + (2424

99190625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 - 102688593
52502470279/743029342208, (6567995675875*nl3)/371514671104 - (2156029618302601*x
1o)/47553877901312 + (177493670846305*x4o)/11888469475328 - (660200867197465*x6o
*sin(2*x2))/47553877901312 - (666098955875*nl3*x1o)/2972117368832 + (30964143376
25*nl3*x4o)/5944234737664 + (6428882082235*x1o*x4o)/23776938950656 + (1861873517
05585*x6o*cos(x2))/11888469475328 - (3314133651975*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/95107755802624 - (506464590625*nl3*x6o*cos(x2))/11888469475328 + (13740460
284135*x1o*x6o*cos(x2))/5944234737664 + (1207732983485*x4o*x6o*cos(x2))/95107755
802624 + (242993088125*nl3*x6o*sin(2*x2))/5944234737664 - (744005496175*x1o*x6o*
sin(2*x2))/47553877901312 - (2151097489175*x4o*x6o*sin(2*x2))/95107755802624 + (
437587544625*nl3*x1o*x4o)/5944234737664 + (278812559375*nl3*x1o*x6o*sin(2*x2))/5
944234737664 - (884989824375*nl3*x4o*x6o*sin(2*x2))/11888469475328 + (3630815396
325*x1o*x4o*x6o*sin(2*x2))/95107755802624 + (384454090625*nl3*x6o^2*sin(x2)*(cos
(2*x2)/2 + 1/2))/11888469475328 - (1639533611425*x1o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/95107755802624 + (1586339946225*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/4
7553877901312 - (649917745625*nl3*x1o*x6o*cos(x2))/11888469475328 + (87876608125
*nl3*x4o*x6o*cos(x2))/1486058684416 - (3556888949275*x1o*x4o*x6o*cos(x2))/951077
55802624 + (343114471875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/118884694753
28 - (19666403125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/371514671104 - (165
890130375*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/11888469475328 + (377788593
75*nl3*x1o*x4o*x6o*cos(x2))/5944234737664 + (322695749375*nl3*x1o*x4o*x6o*sin(2*
x2))/11888469475328 + (37166503125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/2972117368832 - 10630645658146204691/47553877901312, (6433517308875*nl3)/14512
29184 - (2111225975517615*x1o)/185757335552 + (336909038351951*x4o)/92878667776
- (1292942123062565*x6o*sin(2*x2))/371514671104 - (1326792558125*nl3*x1o)/232196
66944 + (1508759028875*nl3*x4o)/11609833472 + (12280176613039*x1o*x4o)/185757335
552 + (182317515117925*x6o*cos(x2))/46439333888 - (488669646875*nl3*x6o*cos(x2))
/46439333888 + (215335824300135*x1o*x6o*cos(x2))/371514671104 + (278822307845*x4
o*x6o*cos(x2))/92878667776 - (3137639568175*x6o^2*cos(x2)^2*sin(x2))/37151467110
4 + (56386991875*nl3*x6o*sin(2*x2))/5804916736 - (380307007335*x1o*x6o*sin(2*x2)
)/92878667776 - (2013078223005*x4o*x6o*sin(2*x2))/371514671104 + (359382812875*n
l3*x1o*x4o)/23219666944 + (562701898125*nl3*x1o*x6o*sin(2*x2))/46439333888 - (11
0642844375*nl3*x4o*x6o*sin(2*x2))/5804916736 + (1700611562865*x1o*x4o*x6o*sin(2*
x2))/185757335552 + (360880971875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/4643933
3888 - (838143956275*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 + (3164
454805725*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/371514671104 - (324999966875*nl
3*x1o*x6o*cos(x2))/23219666944 + (698674848125*nl3*x4o*x6o*cos(x2))/46439333888
- (3344277795195*x1o*x4o*x6o*cos(x2))/371514671104 + (174522953125*nl3*x1o*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/23219666944 - (629185634375*nl3*x4o*x6o^2*sin(x2)*
(cos(2*x2)/2 + 1/2))/46439333888 - (345143903275*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/92878667776 + (13677051875*nl3*x1o*x4o*x6o*cos(x2))/11609833472 + (3
42776009375*nl3*x1o*x4o*x6o*sin(2*x2))/46439333888 + (80393653125*nl3*x1o*x4o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/23219666944 - 4922175916023263423/92878667776,
(153794751583125*nl3)/185757335552 - (3156500324216019*x1o)/1486058684416 + (108
0295102488325*x4o)/1486058684416 - (1933132798353625*x6o*sin(2*x2))/297211736883
2 - (1899329816625*nl3*x1o)/185757335552 + (4553100020375*nl3*x4o)/185757335552
+ (19408987225627*x1o*x4o)/1486058684416 + (2180658027512265*x6o*cos(x2))/297211
7368832 - (5062280616475*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2972117368832 - (755
692108125*nl3*x6o*cos(x2))/371514671104 + (321733434941575*x1o*x6o*cos(x2))/2972
117368832 + (1893703507675*x4o*x6o*cos(x2))/2972117368832 + (760241278125*nl3*x6
o*sin(2*x2))/371514671104 - (2038665429215*x1o*x6o*sin(2*x2))/2972117368832 - (3
325252835015*x4o*x6o*sin(2*x2))/2972117368832 + (774535315625*nl3*x1o*x4o)/18575
7335552 + (781157264375*nl3*x1o*x6o*sin(2*x2))/371514671104 - (1256620833125*nl3
*x4o*x6o*sin(2*x2))/371514671104 + (5618314949335*x1o*x4o*x6o*sin(2*x2))/2972117
368832 + (593653459375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/371514671104 - (22
54879376925*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2972117368832 + (452067985957
5*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2972117368832 - (922989914375*nl3*x1o*x
6o*cos(x2))/371514671104 + (1007961273125*nl3*x4o*x6o*cos(x2))/371514671104 - (5
479451345315*x1o*x4o*x6o*cos(x2))/2972117368832 + (475421378125*nl3*x1o*x6o^2*si

n(x2)*(cos(2*x2)/2 + 1/2))/371514671104 - (894456021875*nl3*x4o*x6o^2*sin(x2)*(c

os(2*x2)/2 + 1/2))/371514671104 - (1781195901975*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/2972117368832 + (148506216875*nl3*x1o*x4o*x6o*cos(x2))/371514671104
+ (419472958125*nl3*x1o*x4o*x6o*sin(2*x2))/371514671104 + (187383046875*nl3*x1o*
x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/371514671104 - 15553173061844998341/14860
58684416, (762361199776501*x1o)/743029342208 - (148414468284625*nl3)/37151467110
4 - (572883255495573*x4o)/1486058684416 + (466936075262475*x6o*sin(2*x2))/148605
8684416 + (1750668660375*nl3*x1o)/371514671104 - (4485365624125*nl3*x4o)/3715146
71104 - (10107550237139*x1o*x4o)/1486058684416 - (526705677443855*x6o*cos(x2))/1
486058684416 + (1349835120375*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1486058684416 +
(766174029375*nl3*x6o*cos(x2))/743029342208 - (77650160512845*x1o*x6o*cos(x2))/
1486058684416 - (1076715410265*x4o*x6o*cos(x2))/2972117368832 - (852584251875*nl
3*x6o*sin(2*x2))/743029342208 + (13283412805*x1o*x6o*sin(2*x2))/46439333888 + (1
828280014535*x4o*x6o*sin(2*x2))/2972117368832 - (1077399779625*nl3*x1o*x4o)/3715
14671104 - (682698489375*nl3*x1o*x6o*sin(2*x2))/743029342208 + (1134345418125*nl
3*x4o*x6o*sin(2*x2))/743029342208 - (3073786308005*x1o*x4o*x6o*sin(2*x2))/297211
7368832 - (647003134375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/743029342208 + (3
636808275*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/11609833472 - (2060708398925*x4
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2972117368832 + (833056236875*nl3*x1o*x6o*c
os(x2))/743029342208 - (929058518125*nl3*x4o*x6o*cos(x2))/743029342208 + (297134
5584225*x1o*x4o*x6o*cos(x2))/2972117368832 - (401194009375*nl3*x1o*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/743029342208 + (807166165625*nl3*x4o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/743029342208 + (671283418075*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/2972117368832 - (234486543125*nl3*x1o*x4o*x6o*cos(x2))/743029342208 - (279
236651875*nl3*x1o*x4o*x6o*sin(2*x2))/743029342208 - (109767621875*nl3*x1o*x4o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/743029342208 + 4115937332230981413/743029342208
, (68519479400125*nl3)/5944234737664 - (87643820503421*x1o)/2972117368832 + (345
658590935799*x4o)/47553877901312 - (858714483908175*x6o*sin(2*x2))/9510775580262
4 - (997903012875*nl3*x1o)/5944234737664 + (3889396841125*nl3*x4o)/1188846947532
8 + (1672118383447*x1o*x4o)/11888469475328 + (1937579897825515*x6o*cos(x2))/1902
15511605248 - (3132962368825*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/190215511605248
- (579390308125*nl3*x6o*cos(x2))/23776938950656 + (286653526250295*x1o*x6o*cos(x
2))/190215511605248 + (847946123705*x4o*x6o*cos(x2))/190215511605248 + (36009634
5625*nl3*x6o*sin(2*x2))/23776938950656 - (1336655864845*x1o*x6o*sin(2*x2))/95107
755802624 - (895822704675*x4o*x6o*sin(2*x2))/95107755802624 - (185116637625*nl3*
x1o*x4o)/11888469475328 + (914436424375*nl3*x1o*x6o*sin(2*x2))/23776938950656 (42536681875*nl3*x4o*x6o*sin(2*x2))/743029342208 + (1515710634835*x1o*x4o*x6o*si
n(2*x2))/95107755802624 + (10272228125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/74
3029342208 - (2925550081175*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1902155116052
48 + (4786796613525*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/190215511605248 - (99
9156941875*nl3*x1o*x6o*cos(x2))/23776938950656 + (514981646875*nl3*x4o*x6o*cos(x
2))/11888469475328 - (3105315282155*x1o*x4o*x6o*cos(x2))/190215511605248 + (1481
89803125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5944234737664 - (96428446562
5*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/23776938950656 - (2621741498625*x1o
*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/190215511605248 - (56680708125*nl3*x1o*x
4o*x6o*cos(x2))/11888469475328 + (44663593125*nl3*x1o*x4o*x6o*sin(2*x2))/1486058
684416 + (361240240625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2377693895
0656 - 5350715505432502465/47553877901312, (51675459562125*nl3)/47553877901312 (272251007464471*x1o)/95107755802624 + (662851341795891*x4o)/190215511605248 (333809973791615*x6o*sin(2*x2))/380431023210496 + (435100240375*nl3*x1o)/4755387
7901312 + (2128370492875*nl3*x4o)/47553877901312 + (2553369958227*x1o*x4o)/47553
877901312 + (188059528899545*x6o*cos(x2))/190215511605248 - (1646692727425*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/190215511605248 - (586966430625*nl3*x6o*cos(x2))/9
5107755802624 + (54105748863825*x1o*x6o*cos(x2))/380431023210496 + (452042040625
*x4o*x6o*cos(x2))/95107755802624 + (1380536345625*nl3*x6o*sin(2*x2))/95107755802
624 + (73340642645*x1o*x6o*sin(2*x2))/23776938950656 - (2637133142705*x4o*x6o*si
n(2*x2))/380431023210496 + (3365237088125*nl3*x1o*x4o)/47553877901312 - (5109192
68125*nl3*x1o*x6o*sin(2*x2))/95107755802624 + (432892951875*nl3*x4o*x6o*sin(2*x2
))/95107755802624 + (555661695185*x1o*x4o*x6o*sin(2*x2))/47553877901312 + (90941
7671875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/95107755802624 + (1244442926625*x

1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/380431023210496 - (291524861175*x4o*x6o^2*

sin(x2)*(cos(2*x2)/2 + 1/2))/190215511605248 + (315903648125*nl3*x1o*x6o*cos(x2)
)/95107755802624 - (128312546875*nl3*x4o*x6o*cos(x2))/95107755802624 - (40717414
60235*x1o*x4o*x6o*cos(x2))/380431023210496 - (439463859375*nl3*x1o*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/95107755802624 + (291987028125*nl3*x4o*x6o^2*sin(x2)*(cos(
2*x2)/2 + 1/2))/95107755802624 + (1534390060175*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/380431023210496 + (921123561875*nl3*x1o*x4o*x6o*cos(x2))/951077558026
24 - (1067565061875*nl3*x1o*x4o*x6o*sin(2*x2))/95107755802624 - (625709978125*nl
3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/95107755802624 - 824067447081996824
5/190215511605248]
[
(21614357554125*nl3)/46439333888 + (161727281244
23783*x1o)/46439333888 - (2891595336533427*x4o)/185757335552 + (507294760195*x6o
*sin(2*x2))/11609833472 + (21516125*nl3*x1o)/46439333888 - (18515375*nl3*x4o)/46
439333888 - (3761133*x1o*x4o)/46439333888 - (12451765405*x6o*cos(x2))/725614592
+ (100324375*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/371514671104 - (13591875*nl3*x6o
*cos(x2))/92878667776 - (931502637965*x1o*x6o*cos(x2))/371514671104 + (3437015*x
4o*x6o*cos(x2))/185757335552 + (18919375*nl3*x6o*sin(2*x2))/92878667776 + (40423
145*x1o*x6o*sin(2*x2))/371514671104 - (5029585*x4o*x6o*sin(2*x2))/46439333888 +
(2914125*nl3*x1o*x4o)/46439333888 - (13658125*nl3*x1o*x6o*sin(2*x2))/92878667776
+ (11111875*nl3*x4o*x6o*sin(2*x2))/92878667776 - (26597595*x1o*x4o*x6o*sin(2*x2
))/371514671104 - (23378125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/92878667776 (34953075*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/92878667776 + (161325525*x4o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/371514671104 + (15055625*nl3*x1o*x6o*cos(x2))/
92878667776 - (5281875*nl3*x4o*x6o*cos(x2))/92878667776 - (63186675*x1o*x4o*x6o*
cos(x2))/371514671104 + (35921875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/928
78667776 - (50628125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/92878667776 + (2
4257975*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 + (17333125*nl3*
x1o*x4o*x6o*cos(x2))/92878667776 + (5891875*nl3*x1o*x4o*x6o*sin(2*x2))/928786677
76 - (7040625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/92878667776 + 63097
78398522421993/185757335552,
(16066626204875*nl3)/1451229184 + (314860333952721639*x1o)/23219666944 - (11417
159498041321*x4o)/23219666944 + (48267296837415*x6o*sin(2*x2))/46439333888 + (16
20375*nl3*x1o)/181403648 - (320625*nl3*x4o)/45350912 - (78198539*x1o*x4o)/232196
66944 - (18955812044395*x6o*cos(x2))/46439333888 + (203526275*x6o^2*sin(x2)*(cos
(2*x2)/2 + 1/2))/46439333888 - (3078125*nl3*x6o*cos(x2))/725614592 - (2769667789
405*x1o*x6o*cos(x2))/46439333888 - (3446725*x4o*x6o*cos(x2))/46439333888 + (1174
8125*nl3*x6o*sin(2*x2))/2902458368 + (46961585*x1o*x6o*sin(2*x2))/46439333888 (109094775*x4o*x6o*sin(2*x2))/46439333888 + (2587125*nl3*x1o*x4o)/1451229184 - (
676875*nl3*x1o*x6o*sin(2*x2))/362807296 + (924375*nl3*x4o*x6o*sin(2*x2))/3628072
96 - (92887145*x1o*x4o*x6o*sin(2*x2))/46439333888 - (1384375*nl3*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/362807296 - (235425775*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/46439333888 + (461417625*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/46439333888 +
(10881875*nl3*x1o*x6o*cos(x2))/2902458368 - (1934375*nl3*x4o*x6o*cos(x2))/290245
8368 - (147916035*x1o*x4o*x6o*cos(x2))/46439333888 + (14890625*nl3*x1o*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/2902458368 - (35303125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/2902458368 + (211404475*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/4
6439333888 + (1310625*nl3*x1o*x4o*x6o*cos(x2))/362807296 + (6039375*nl3*x1o*x4o*
x6o*sin(2*x2))/2902458368 - (1265625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/362807296 + 15122767059116076349/23219666944,
(17457110782875*nl3)/5804916736 + (3142126480274932
63*x1o)/92878667776 - (11753629862411233*x4o)/92878667776 + (52444578399815*x6o*
sin(2*x2))/185757335552 + (14775875*nl3*x1o)/5804916736 - (2987125*nl3*x4o)/1451
229184 - (77199781*x1o*x4o)/92878667776 - (20596349475055*x6o*cos(x2))/185757335
552 + (242649925*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 - (1608125*nl3*
x6o*cos(x2))/1451229184 - (3009366628935*x1o*x6o*cos(x2))/185757335552 + (167944
5*x4o*x6o*cos(x2))/185757335552 + (830625*nl3*x6o*sin(2*x2))/725614592 + (678462

55*x1o*x6o*sin(2*x2))/185757335552 - (120962585*x4o*x6o*sin(2*x2))/185757335552
+ (678875*nl3*x1o*x4o)/1451229184 - (3485625*nl3*x1o*x6o*sin(2*x2))/5804916736 +
(8234375*nl3*x4o*x6o*sin(2*x2))/11609833472 - (97738685*x1o*x4o*x6o*sin(2*x2))/
185757335552 - (13465625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/11609833472 - (2
97294075*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 + (505581225*x4o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 + (5948125*nl3*x1o*x6o*cos(x2))/58
04916736 - (2554375*nl3*x4o*x6o*cos(x2))/11609833472 - (169866255*x1o*x4o*x6o*co
s(x2))/185757335552 + (18896875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/11609
833472 - (19446875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5804916736 + (2144
94725*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 + (11941875*nl3*x1
o*x4o*x6o*cos(x2))/11609833472 + (6180625*nl3*x1o*x4o*x6o*sin(2*x2))/11609833472
- (4946875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5804916736 + 17262518
830754148015/92878667776,
(7821653769875*nl3)/185757335552 + (17809424805853
9809*x1o)/2972117368832 - (3040260067105827*x4o)/1486058684416 + (23497787833935
*x6o*sin(2*x2))/5944234737664 + (2876875*nl3*x1o)/92878667776 - (8700625*nl3*x4o
)/371514671104 - (1382099*x1o*x4o)/92878667776 - (2307044544955*x6o*cos(x2))/148
6058684416 + (5106825*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/371514671104 - (1280062
5*nl3*x6o*cos(x2))/743029342208 - (168543522305*x1o*x6o*cos(x2))/743029342208 (6066765*x4o*x6o*cos(x2))/5944234737664 + (10583125*nl3*x6o*sin(2*x2))/743029342
208 + (9416165*x1o*x6o*sin(2*x2))/5944234737664 - (25589805*x4o*x6o*sin(2*x2))/2
972117368832 + (2677875*nl3*x1o*x4o)/371514671104 - (3531875*nl3*x1o*x6o*sin(2*x
2))/743029342208 + (1720625*nl3*x4o*x6o*sin(2*x2))/185757335552 - (5977155*x1o*x
4o*x6o*sin(2*x2))/743029342208 - (1059375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
/92878667776 - (20435075*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1486058684416 +
(221604975*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5944234737664 + (10484375*nl3*
x1o*x6o*cos(x2))/743029342208 - (575625*nl3*x4o*x6o*cos(x2))/371514671104 - (647
06445*x1o*x4o*x6o*cos(x2))/5944234737664 + (5096875*nl3*x1o*x6o^2*sin(x2)*(cos(2
*x2)/2 + 1/2))/371514671104 - (33559375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/743029342208 + (115476275*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/59442347
37664 + (2333125*nl3*x1o*x4o*x6o*cos(x2))/185757335552 + (3249375*nl3*x1o*x4o*x6
o*sin(2*x2))/371514671104 - (11684375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/743029342208 + 6698721472628593875/2972117368832,
(30635456714875*nl3)/2902458368 + (41048044690761723*x
1o)/2902458368 - (1442602050315993*x4o)/2902458368 + (11504366948075*x6o*sin(2*x
2))/11609833472 + (23319625*nl3*x1o)/2902458368 - (17945125*nl3*x4o)/2902458368
- (41161151*x1o*x4o)/11609833472 - (9036117413045*x6o*cos(x2))/23219666944 + (21
516075*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5804916736 - (24505625*nl3*x6o*cos(x2)
)/5804916736 - (660142459685*x1o*x6o*cos(x2))/11609833472 - (2196175*x4o*x6o*cos
(x2))/11609833472 + (21331875*nl3*x6o*sin(2*x2))/5804916736 + (13926645*x1o*x6o*
sin(2*x2))/23219666944 - (50784765*x4o*x6o*sin(2*x2))/23219666944 + (5131125*nl3
*x1o*x4o)/2902458368 - (8136875*nl3*x1o*x6o*sin(2*x2))/5804916736 + (13699375*nl
3*x4o*x6o*sin(2*x2))/5804916736 - (5736215*x1o*x4o*x6o*sin(2*x2))/2902458368 - (
18203125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5804916736 - (91503525*x1o*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/23219666944 + (218024325*x4o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/23219666944 + (20610625*nl3*x1o*x6o*cos(x2))/5804916736 - (2770625
*nl3*x4o*x6o*cos(x2))/5804916736 - (65906885*x1o*x4o*x6o*cos(x2))/23219666944 +
(22965625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5804916736 - (66290625*nl3*
x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5804916736 + (54264275*x1o*x4o*x6o^2*sin(
x2)*(cos(2*x2)/2 + 1/2))/11609833472 + (18888125*nl3*x1o*x4o*x6o*cos(x2))/580491
6736 + (12288125*nl3*x1o*x4o*x6o*sin(2*x2))/5804916736 - (21559375*nl3*x1o*x4o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5804916736 + 6791158784434600777/11609833472,
(45805848454875*nl3)/23219666944 + (271582310069287483*x1o)/92878667776 (9252265795894471*x4o)/92878667776 + (17201225250185*x6o*sin(2*x2))/92878667776
+ (32175125*nl3*x1o)/23219666944 - (23724625*nl3*x4o)/23219666944 - (17217011*x1
o*x4o)/23219666944 - (13510710227995*x6o*cos(x2))/185757335552 + (107740125*x6o^

2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 - (38553125*nl3*x6o*cos(x2))/4643933

3888 - (987039718945*x1o*x6o*cos(x2))/92878667776 - (5922365*x4o*x6o*cos(x2))/92
878667776 + (29834375*nl3*x6o*sin(2*x2))/46439333888 + (4660105*x1o*x6o*sin(2*x2
))/185757335552 - (73610895*x4o*x6o*sin(2*x2))/185757335552 + (8051125*nl3*x1o*x
4o)/23219666944 - (7981875*nl3*x1o*x6o*sin(2*x2))/46439333888 + (19716875*nl3*x4
o*x6o*sin(2*x2))/46439333888 - (35849215*x1o*x4o*x6o*sin(2*x2))/92878667776 - (2
1653125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/46439333888 - (24365475*x1o*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/46439333888 + (161062825*x4o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/92878667776 + (30550625*nl3*x1o*x6o*cos(x2))/46439333888 - (238062
5*nl3*x4o*x6o*cos(x2))/46439333888 - (89794355*x1o*x4o*x6o*cos(x2))/185757335552
+ (24028125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/46439333888 - (97115625*
nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/46439333888 + (176798275*x1o*x4o*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 + (26140625*nl3*x1o*x4o*x6o*cos(x2))
/46439333888 + (19853125*nl3*x1o*x4o*x6o*sin(2*x2))/46439333888 - (36471875*nl3*
x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/46439333888 + 4677880448263313687/464
39333888,
(9816139760411363*x4o)/185757335552 - (164655744733313903*x1o)/9287866
7776 - (22129510040125*nl3)/23219666944 - (33240715166155*x6o*sin(2*x2))/3715146
71104 - (3425625*nl3*x1o)/5804916736 + (4663625*nl3*x4o)/11609833472 + (38470717
*x1o*x4o)/92878667776 + (13054452215305*x6o*cos(x2))/371514671104 - (75489675*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/371514671104 + (20023125*nl3*x6o*cos(x2))/46439
333888 + (953709316325*x1o*x6o*cos(x2))/185757335552 + (18771225*x4o*x6o*cos(x2)
)/371514671104 - (3251875*nl3*x6o*sin(2*x2))/11609833472 + (278555*x1o*x6o*sin(2
*x2))/5804916736 + (67943655*x4o*x6o*sin(2*x2))/371514671104 - (4149625*nl3*x1o*
x4o)/23219666944 + (955625*nl3*x1o*x6o*sin(2*x2))/46439333888 - (9006875*nl3*x4o
*x6o*sin(2*x2))/46439333888 + (36979145*x1o*x4o*x6o*sin(2*x2))/185757335552 + (3
334375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/23219666944 + (19138075*x1o*x6o^2*
sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 - (306643525*x4o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/371514671104 - (3639375*nl3*x1o*x6o*cos(x2))/11609833472 - (34375*
nl3*x4o*x6o*cos(x2))/23219666944 + (37228565*x1o*x4o*x6o*cos(x2))/185757335552 (4296875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/46439333888 + (45565625*nl3
*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/46439333888 - (48735075*x1o*x4o*x6o^2*si
n(x2)*(cos(2*x2)/2 + 1/2))/92878667776 - (11149375*nl3*x1o*x4o*x6o*cos(x2))/4643
9333888 - (5328125*nl3*x1o*x4o*x6o*sin(2*x2))/23219666944 + (659375*nl3*x1o*x4o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1451229184 - 7930387172328829677/185757335552
,
(40689163161125
*nl3)/1486058684416 + (71369436537510317*x1o)/2972117368832 - (5917530118424883*
x4o)/5944234737664 + (7639885739875*x6o*sin(2*x2))/2972117368832 + (38434875*nl3
*x1o)/1486058684416 - (32467375*nl3*x4o)/1486058684416 - (16991651*x1o*x4o)/2972
117368832 - (6000771557195*x6o*cos(x2))/5944234737664 - (27089375*nl3*x6o*cos(x2
))/2972117368832 - (1753560834735*x1o*x6o*cos(x2))/11888469475328 + (4438355*x4o
*x6o*cos(x2))/5944234737664 + (172690475*x6o^2*cos(x2)^2*sin(x2))/11888469475328
+ (34038125*nl3*x6o*sin(2*x2))/2972117368832 + (63656985*x1o*x6o*sin(2*x2))/118
88469475328 - (36965295*x4o*x6o*sin(2*x2))/5944234737664 + (5767875*nl3*x1o*x4o)
/1486058684416 - (22490625*nl3*x1o*x6o*sin(2*x2))/2972117368832 + (20328125*nl3*
x4o*x6o*sin(2*x2))/2972117368832 - (52374865*x1o*x4o*x6o*sin(2*x2))/118884694753
28 - (39709375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2972117368832 - (116299375
*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5944234737664 + (300590225*x4o*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/11888469475328 + (28116875*nl3*x1o*x6o*cos(x2))/297211
7368832 - (8586875*nl3*x4o*x6o*cos(x2))/2972117368832 - (112096895*x1o*x4o*x6o*c
os(x2))/11888469475328 + (59609375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/29
72117368832 - (93709375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2972117368832
+ (1607725*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/185757335552 + (30981875*
nl3*x1o*x4o*x6o*cos(x2))/2972117368832 + (12206875*nl3*x1o*x4o*x6o*sin(2*x2))/29
72117368832 - (16628125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/297211736
8832 + 11253638824421068017/5944234737664,
(7919601612875*nl3)/297211736883

2 + (446448574854234061*x1o)/23776938950656 - (5683056157297285*x4o)/11888469475
328 + (11896109894315*x6o*sin(2*x2))/47553877901312 - (11872875*nl3*x1o)/2972117
368832 + (2009875*nl3*x4o)/371514671104 - (120529301*x1o*x4o)/23776938950656 - (
2335880746235*x6o*cos(x2))/23776938950656 - (19434375*nl3*x6o*cos(x2))/594423473
7664 - (682640011485*x1o*x6o*cos(x2))/47553877901312 - (18236445*x4o*x6o*cos(x2)
)/11888469475328 - (236036525*x6o^2*cos(x2)^2*sin(x2))/47553877901312 - (8181875
*nl3*x6o*sin(2*x2))/5944234737664 - (26188105*x1o*x6o*sin(2*x2))/5944234737664 +
(4840085*x4o*x6o*sin(2*x2))/47553877901312 + (958875*nl3*x1o*x4o)/743029342208
+ (25926875*nl3*x1o*x6o*sin(2*x2))/5944234737664 - (196875*nl3*x4o*x6o*sin(2*x2)
)/743029342208 - (8099215*x1o*x4o*x6o*sin(2*x2))/5944234737664 + (32609375*nl3*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5944234737664 + (242508075*x1o*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/23776938950656 + (60529775*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/47553877901312 + (3548125*nl3*x1o*x6o*cos(x2))/5944234737664 + (2766875*nl
3*x4o*x6o*cos(x2))/1486058684416 + (83770215*x1o*x4o*x6o*cos(x2))/47553877901312
- (63815625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/5944234737664 - (909375*
nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1486058684416 + (15863325*x1o*x4o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2972117368832 - (4630625*nl3*x1o*x4o*x6o*cos(x2)
)/2972117368832 + (3259375*nl3*x1o*x4o*x6o*sin(2*x2))/1486058684416 - (17178125*
nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2972117368832 - 36046772302566349
11/11888469475328]
clear all
clc;
syms x1 x2 x3 x4 x5 x6 x7 u1 u2
global F
Acte=-0.7; Bcte=-0.2; I1=6.8e-2; I2=2e-2;
a1=0.0135; b1=0.0924; a2=0.02;
b2=0.09;
Mfg=0.32; B1phsi=6e-3; B1phi=1e-1; Kgy=0.05;
% %%Esta mas agrada mas
% % % funciona con relajacion y alfa=1e-3, da marginal sin relajacion y epsilon=
1e-3
% z5=[-0.4,0.4];%%x6*cos(x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4]
% z3=[0.827,1];%sin(x2)/x2, x2=[-pi/3 pi/3] Ampliando la region de modelado
% z4=[-0.4,0.4];%x6*sin(2x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4] ////
% z2=[-2,2];%x4
% z1=[-1.9,1.9];%x1
%%Nueva region
% % funciona con relajacion y alfa=1e-3, da marginal sin relajacion y epsilon=1e
-3
z5=[-0.4,0.4];%%x6*cos(x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4]
z3=[0.827,1];%sin(x2)/x2, x2=[-pi/3 pi/3] Ampliando la region de modelado
z4=[-0.4,0.4];%x6*sin(2x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4] ////
z2=[-1,1];%x4
z1=[-1,1];%x1
n=1;
for m=1:2
for l=1:2
for k=1:2
for j=1:2
for i=1:2
A{n}=[-1/1.2,
0,
0,
0,
0, 0,
0, 0, 0;
0,
0,
1,
0,
0, 0,
0
, 0, 0;

(b1+a1*z1(m))*((1-Kgy*z5(i))/I1),
0,
0, 0.0163*z4(j)/I1,

)/I1,
, 0 ,0;

-B1phsi/I1,

0,

-Mfg*z3(k
0
0,

0,

-1,

0, 0,

0,

0, 1,

, 0 ,0;
0,

0,

0,

, 0 ,0;
0,
0,

0,
(b2+a2*z2(l))/I2,

0, -B1phi/I2,

-1/I

2, 0, 0;
((Bcte/2))*(b1+a1*z1(m))-(Acte/1.2)*(b1/2+a1*z1(m)),
0,
0,
0, 0,

0,
-0.5, 0, 0;

0,1,0,0,0,0,0,0,0;
0,0,0,0,1,0,0,0,0];
B{n}=
[ 1.1/1.2,
0;
0,
0;
0,
0;
0,
0.8;
0,
0;
0,
0;
(1.1*Acte/1.2)*(b1/2+a1*z1(m)),
0,
0;
0,
0];
C{n}=[0 1 0 0 0 0 0 0 0;
0 0 0 0 1 0 0 0 0];
E{n}=[1;1];
D{n}=[0;0;0;0;0;0;0;0;0];
n=n+1;
end
end
end
end
end
[n m]=size(B{1});
r=numel(A);
setlmis([]);
%miu=sqrt(2)*2.25;
%miu2=miu*miu;
% X0=[0;0.001;0;0;0.001;0;0;0;0];
% X0=[1;-0.2;0;1;-0.2;0;0;0;0];
epsilon=2.5e-3;
% % Se definen X y M dimensiones correspondientes.
gamma2=lmivar(1,[1 1]);
X=lmivar(1,[n 1]);
for i=1:r
M{i}=lmivar(2,[m n]);
end
lmix=newlmi; %LMI X=X'>0
lmiterm([-lmix 1 1 X],1,1);
%
%
%

for j=1:r

0;

%
%
%
%
%
%
%
%
%
%
%

lmi1=newlmi;
lmiterm([-lmi1 1 1 X],1,1);
lmiterm([-lmi1 2 1 M{j}],1,1);
lmiterm([-lmi1 2 2 0],miu2);
end
%LMI [I X0';X0 X]>0
lmi2=newlmi;
lmiterm([-lmi2 1 1 0],1);
lmiterm([-lmi2 2 1 0],X0);
lmiterm([-lmi2 2 2 X],1,1);
alfa=0.55;
for i=1:r
for j=1:r
lmix=newlmi; %Gama_ii
lmiterm([lmix 1 1 X],A{i},2/(r-1),'s');
lmiterm([lmix 1 1 M{i}],B{i},2/(r-1),'s');
% lmiterm([lmix 1 1 X],alfa,2/(r-1));
lmiterm([lmix 1 1 0],epsilon*eye(n)*2/(r-1));
lmiterm([lmix 2 1 X],C{i},2/(r-1));
lmiterm([lmix 2 2 0],-2/(r-1));
lmiterm([lmix 3 1 0],(2/(r-1))*D{i}');
lmiterm([lmix 3 1 X],E{i}'*C{i},2/(r-1));
lmiterm([lmix 3 3 gamma2],-1,2/(r-1));
lmiterm([lmix 4 3 0],E{i}*(2/(r-1)));
lmiterm([lmix 4 4 0],-2/(r-1));
% Gama_ij
lmiterm([lmix 1 1 X],A{i},1,'s');
lmiterm([lmix 1 1 M{j}],B{i},1,'s');
lmiterm([lmix 1 1 0],epsilon*eye(n));
%lmiterm([lmix 1 1 X],alfa,1);
lmiterm([lmix 2 1 X],C{i},1);
lmiterm([lmix 2 2 0],-1);
lmiterm([lmix 3 1 0],D{i}');
lmiterm([lmix 3 1 X],E{j}'*C{i},1);
lmiterm([lmix 3 3 gamma2],-1,1);
lmiterm([lmix 4 3 0],E{j});
lmiterm([lmix 4 4 0],-1);
% Gama_ji
lmiterm([lmix 1 1 X],A{j},1,'s');
lmiterm([lmix 1 1 M{i}],B{j},1,'s');
lmiterm([lmix 1 1 0],epsilon*eye(n));
%lmiterm([lmix 1 1 X],alfa,1);
lmiterm([lmix 2 1 X],C{j},1);
lmiterm([lmix 2 2 0],-1);
lmiterm([lmix 3 1 0],D{j}');
lmiterm([lmix 3 1 X],E{i}'*C{j},1);
lmiterm([lmix 3 3 gamma2],-1,1);
lmiterm([lmix 4 3 0],E{i});
lmiterm([lmix 4 4 0],-1);
end
end
%Se obtienen la LMIs
lmis=getlmis;
c=[1 zeros(1,decnbr(lmis)-1)];
[copt,xopt]=mincx(lmis,c);
if not(isempty(copt))
X=dec2mat(lmis,xopt,X); P=inv(X);

for j=1:r
M{j}=dec2mat(lmis,xopt,M{j}); F{j}=M{j}*P;
end
gamma2=dec2mat(lmis,xopt,gamma2); gamma=sqrt(gamma2);
else
disp('no factible')
end
% % Prueba de valores propios
for i=1:r
for j=1:r
gama{i,j}=A{i}*X+B{i}*M{j}+(A{i}*X+B{i}*M{j}).';
end
end
var1=0; var2=0;
for i=1:r
for j=1:r
var1=var1+1; var2=var2+1;
ValPr1(var1)=max(eig((2/(r-1))*gama{i,i}+gama{i,j}+gama{j,i}));
ValPr2(var2)=max(eig(gama{i,j}));
end
end
figure
stem(ValPr1)
figure
stem(ValPr2)
max(ValPr1)
max(ValPr2)
eig(P)
min(eig(P))

-3.8851
26.959
-0.084449
56.39

-3.2004
-0.16323
-13.251
0.1138

-8.3812
0.13194
-4.7267
-0.15991

-2.4899

-10.726

-1.7999

-4.3869

-20.506

-4.1878

[
(1044423572854052125*nl3)/779122735535095808 - (435321698666028075*x1o)/311649
0942140383232 - (24231082997487409*x4o)/3116490942140383232 - (11059878495288608
5*x6o*sin(2*x2))/12465963768561532928 - (39487302958334375*nl3*x1o)/389561367767
547904 - (12229758379521125*nl3*x4o)/389561367767547904 - (88895213778294461*x1o
*x4o)/1558245471070191616 + (601276796748301435*x6o*cos(x2))/1246596376856153292
8 - (66453149401141875*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 +
(34447521875008125*nl3*x6o*cos(x2))/1558245471070191616 + (37791136830267875*x1
o*x6o*cos(x2))/6232981884280766464 + (144807334389780945*x4o*x6o*cos(x2))/623298
1884280766464 - (93255326997849375*nl3*x6o*sin(2*x2))/1558245471070191616 + (460
08812003196035*x1o*x6o*sin(2*x2))/6232981884280766464 - (272651453814702775*x4o*
x6o*sin(2*x2))/6232981884280766464 + (11063576983293375*nl3*x1o*x4o)/19478068388
3773952 + (82938565308125*nl3*x1o*x6o*sin(2*x2))/779122735535095808 + (156955736
17794375*nl3*x4o*x6o*sin(2*x2))/779122735535095808 + (30243308882298425*x1o*x4o*
x6o*sin(2*x2))/3116490942140383232 + (1361505883665625*nl3*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/1558245471070191616 - (54111736174689175*x1o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/6232981884280766464 - (40580868035595525*x4o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/6232981884280766464 - (1885727879279375*nl3*x1o*x6o*cos(x2))/77912
2735535095808 - (14143963558580625*nl3*x4o*x6o*cos(x2))/779122735535095808 - (42
435657514963295*x1o*x4o*x6o*cos(x2))/3116490942140383232 + (7959474998678125*nl3

*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (6697828255321875*n

l3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (4692139480639917
5*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (590259392377
6875*nl3*x1o*x4o*x6o*cos(x2))/389561367767547904 - (3306765627828125*nl3*x1o*x4o
*x6o*sin(2*x2))/389561367767547904 - (6826487025315625*nl3*x1o*x4o*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/389561367767547904 - 31692337666489500863/6232981884280766
464,
(8076034525683672625*nl3)/779122735535095808 - (409321558212849833
1*x1o)/3116490942140383232 + (4530610257049474767*x4o)/3116490942140383232 - (21
970056947914845*x6o*sin(2*x2))/48695170970943488 - (86555628868233375*nl3*x1o)/3
89561367767547904 + (190813466905320375*nl3*x4o)/389561367767547904 + (840941895
73728703*x1o*x4o)/1558245471070191616 + (1135297310836238765*x6o*cos(x2))/311649
0942140383232 - (481625813766747375*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/124659637
68561532928 + (27832496665363125*nl3*x6o*cos(x2))/779122735535095808 + (13970051
004071815*x1o*x6o*cos(x2))/3116490942140383232 - (172849797454358145*x4o*x6o*cos
(x2))/3116490942140383232 - (8451239424918125*nl3*x6o*sin(2*x2))/389561367767547
904 + (212776906615365915*x1o*x6o*sin(2*x2))/3116490942140383232 + (448853247227
354165*x4o*x6o*sin(2*x2))/3116490942140383232 - (76222640377549125*nl3*x1o*x4o)/
194780683883773952 + (3396109464416875*nl3*x1o*x6o*sin(2*x2))/389561367767547904
- (19087727294230625*nl3*x4o*x6o*sin(2*x2))/389561367767547904 - (2034513792332
1195*x1o*x4o*x6o*sin(2*x2))/779122735535095808 - (1750143623740625*nl3*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (189499129676744175*x1o*x6o^2*si
n(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (218383683101330775*x4o*x6o^2*s
in(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (4088264962878125*nl3*x1o*x6o*
cos(x2))/194780683883773952 + (14884608935268125*nl3*x4o*x6o*cos(x2))/1947806838
83773952 + (22355291208888215*x1o*x4o*x6o*cos(x2))/779122735535095808 + (3401008
2331734375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (4048
9038204146875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (1
93476791782348925*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232
- (8875610537084375*nl3*x1o*x4o*x6o*cos(x2))/194780683883773952 + (462876835219
0625*nl3*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (29498702628090625*nl3*x1o*x
4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - 85324486523747759967/
6232981884280766464,
(861410844417995875*nl3)/194780
683883773952 - (233051133780904005*x1o)/779122735535095808 + (224793600692415351
*x4o)/779122735535095808 - (331911239005333335*x6o*sin(2*x2))/311649094214038323
2 - (29959190728558875*nl3*x1o)/97390341941886976 + (13137075861273125*nl3*x4o)/
97390341941886976 - (17944185471432553*x1o*x4o)/389561367767547904 + (2805028333
14427985*x6o*cos(x2))/3116490942140383232 - (67406200260041625*x6o^2*sin(x2)*(co
s(2*x2)/2 + 1/2))/3116490942140383232 + (28511438954211875*nl3*x6o*cos(x2))/3895
61367767547904 - (13271510139646995*x1o*x6o*cos(x2))/1558245471070191616 + (1903
4529486260085*x4o*x6o*cos(x2))/1558245471070191616 - (47665958321261875*nl3*x6o*
sin(2*x2))/389561367767547904 + (54073763833660245*x1o*x6o*sin(2*x2))/1558245471
070191616 - (28118414767620095*x4o*x6o*sin(2*x2))/1558245471070191616 - (2688661
069991125*nl3*x1o*x4o)/48695170970943488 + (838594871231875*nl3*x1o*x6o*sin(2*x2
))/194780683883773952 + (3048495443824375*nl3*x4o*x6o*sin(2*x2))/194780683883773
952 + (1804403376795825*x1o*x4o*x6o*sin(2*x2))/779122735535095808 + (11163702241
5625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (33560053234600
525*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (76856624177696
75*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (120443183128437
5*nl3*x1o*x6o*cos(x2))/194780683883773952 + (394303205843125*nl3*x4o*x6o*cos(x2)
)/194780683883773952 - (4012764827419755*x1o*x4o*x6o*cos(x2))/779122735535095808
+ (5314121362746875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1947806838837739
52 - (1479144442578125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19478068388377
3952 - (2872371146263725*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535
095808 + (120368315549375*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 + (56683864
2225625*nl3*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (565521113640625*nl3*x1o*
x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - 19737523256002963561/
1558245471070191616, (3030329561075793375*nl3)/1558245471070191616 + (1282396653
070020149*x1o)/6232981884280766464 - (3070457285568541121*x4o)/62329818842807664
64 + (1514413052673438295*x6o*sin(2*x2))/24931927537123065856 - (274382698214984
625*nl3*x1o)/779122735535095808 - (118780347103203375*nl3*x4o)/77912273553509580

8 - (42315977598076741*x1o*x4o)/3116490942140383232 - (1386580757006708485*x6o*c
os(x2))/24931927537123065856 + (357873302438280725*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/24931927537123065856 + (254406277566815625*nl3*x6o*cos(x2))/31164909421403
83232 + (118530825505765655*x1o*x6o*cos(x2))/12465963768561532928 + (24559400254
5716685*x4o*x6o*cos(x2))/12465963768561532928 - (412746550361291875*nl3*x6o*sin(
2*x2))/3116490942140383232 - (202701247924104385*x1o*x6o*sin(2*x2))/124659637685
61532928 - (483338772116020455*x4o*x6o*sin(2*x2))/12465963768561532928 + (566138
45237281625*nl3*x1o*x4o)/389561367767547904 + (51827740482520625*nl3*x1o*x6o*sin
(2*x2))/1558245471070191616 + (44213108825851875*nl3*x4o*x6o*sin(2*x2))/15582454
71070191616 + (146710043266922265*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 - (
62010375737678125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (
317140730527719475*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 (302532304520221125*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928
- (29598700875579375*nl3*x1o*x6o*cos(x2))/1558245471070191616 - (71647643423685
625*nl3*x4o*x6o*cos(x2))/1558245471070191616 - (216077441976059255*x1o*x4o*x6o*c
os(x2))/6232981884280766464 + (44846916919059375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/1558245471070191616 + (46750245612128125*nl3*x4o*x6o^2*sin(x2)*(cos(
2*x2)/2 + 1/2))/1558245471070191616 + (281441620213408475*x1o*x4o*x6o^2*sin(x2)*
(cos(2*x2)/2 + 1/2))/6232981884280766464 + (37822332773464375*nl3*x1o*x4o*x6o*co
s(x2))/779122735535095808 - (23848367074225625*nl3*x1o*x4o*x6o*sin(2*x2))/779122
735535095808 - (43150639984134375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
/779122735535095808 - 50462998397272048311/12465963768561532928, (19750266866626
49875*nl3)/194780683883773952 - (444140989911924287*x1o)/779122735535095808 + (8
46158546861912087*x4o)/779122735535095808 - (466038907546214525*x6o*sin(2*x2))/3
116490942140383232 - (95624438855480375*nl3*x1o)/97390341941886976 + (6398579130
4875125*nl3*x4o)/97390341941886976 + (13257323257374057*x1o*x4o)/389561367767547
904 + (472034358741695885*x6o*cos(x2))/3116490942140383232 - (53388131410344475*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (91328845361526875*nl3*
x6o*cos(x2))/389561367767547904 + (2463557885094895*x1o*x6o*cos(x2))/15582454710
70191616 - (61589855626113895*x4o*x6o*cos(x2))/1558245471070191616 - (1311611328
82401875*nl3*x6o*sin(2*x2))/389561367767547904 + (62888438516432425*x1o*x6o*sin(
2*x2))/1558245471070191616 + (150796309470747035*x4o*x6o*sin(2*x2))/155824547107
0191616 - (14862614293995625*nl3*x1o*x4o)/48695170970943488 + (12521122221121875
*nl3*x1o*x6o*sin(2*x2))/194780683883773952 - (3297588720860625*nl3*x4o*x6o*sin(2
*x2))/194780683883773952 + (1124232783221125*x1o*x4o*x6o*sin(2*x2))/779122735535
095808 - (12850107791859375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3895613677675
47904 - (102208356423622825*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070
191616 + (14205899217562725*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070
191616 - (7224448248204375*nl3*x1o*x6o*cos(x2))/194780683883773952 + (7517782682
560625*nl3*x4o*x6o*cos(x2))/194780683883773952 - (5915948624351465*x1o*x4o*x6o*c
os(x2))/779122735535095808 + (15947315019859375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/194780683883773952 - (4562374862690625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x
2)/2 + 1/2))/194780683883773952 - (12283158507591125*x1o*x4o*x6o^2*sin(x2)*(cos(
2*x2)/2 + 1/2))/779122735535095808 + (91677750856875*nl3*x1o*x4o*x6o*cos(x2))/97
390341941886976 + (2123775683725625*nl3*x1o*x4o*x6o*sin(2*x2))/97390341941886976
+ (1933746264590625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/973903419418
86976 - 32537304128586455221/1558245471070191616,
(671949176924110375*nl3)/
389561367767547904 - (505474518448411671*x1o)/3116490942140383232 + (21700838123
81656719*x4o)/3116490942140383232 - (2082532140970670115*x6o*sin(2*x2))/12465963
768561532928 - (41561081093348625*nl3*x1o)/389561367767547904 + (311556728573958
75*nl3*x4o)/97390341941886976 - (50876689119787335*x1o*x4o)/1558245471070191616
+ (591158118485929175*x6o*cos(x2))/12465963768561532928 + (2415581966664175*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (18734094960858125*nl3*x6o
*cos(x2))/779122735535095808 - (1889079544584945*x1o*x6o*cos(x2))/62329818842807
66464 - (105664981725091045*x4o*x6o*cos(x2))/6232981884280766464 - (921273951760
6875*nl3*x6o*sin(2*x2))/389561367767547904 - (4889881695907275*x1o*x6o*sin(2*x2)
)/6232981884280766464 + (335425264462891985*x4o*x6o*sin(2*x2))/62329818842807664
64 - (35199604328491875*nl3*x1o*x4o)/194780683883773952 + (7563410961600625*nl3*
x1o*x6o*sin(2*x2))/779122735535095808 - (8198688495234375*nl3*x4o*x6o*sin(2*x2))
/389561367767547904 - (13097487545374955*x1o*x4o*x6o*sin(2*x2))/3116490942140383

232 - (328969595640625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976

- (45266566553736175*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464
+ (58609942857959075*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464
- (1427249521269375*nl3*x1o*x6o*cos(x2))/779122735535095808 + (1837733107469375*
nl3*x4o*x6o*cos(x2))/48695170970943488 + (40720100071598015*x1o*x4o*x6o*cos(x2))
/3116490942140383232 + (7240408206109375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/779122735535095808 - (6709781212403125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/389561367767547904 - (68415596212964575*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/3116490942140383232 - (9349119287400625*nl3*x1o*x4o*x6o*cos(x2))/389561
367767547904 + (6572784561234375*nl3*x1o*x4o*x6o*sin(2*x2))/389561367767547904 +
(10726323256103125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3895613677675
47904 - 23743037780973448405/6232981884280766464, (1241354691680262063*x4o)/3895
61367767547904 - (918023596095022733*x1o)/389561367767547904 - (2147511020071671
625*nl3)/97390341941886976 - (946756861329417625*x6o*sin(2*x2))/1558245471070191
616 + (192653745666137625*nl3*x1o)/48695170970943488 + (82161131591805875*nl3*x4
o)/48695170970943488 - (42436468531251253*x1o*x4o)/194780683883773952 + (8887322
81113027205*x6o*cos(x2))/1558245471070191616 - (244023764669360775*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (182268525268494375*nl3*x6o*cos(x2))
/194780683883773952 - (68830736003496655*x1o*x6o*cos(x2))/779122735535095808 - (
67693379612966595*x4o*x6o*cos(x2))/779122735535095808 + (295459850958063125*nl3*
x6o*sin(2*x2))/194780683883773952 + (135934705967671935*x1o*x6o*sin(2*x2))/77912
2735535095808 + (134959506209444175*x4o*x6o*sin(2*x2))/779122735535095808 - (309
38639596448875*nl3*x1o*x4o)/24347585485471744 - (38652380586720625*nl3*x1o*x6o*s
in(2*x2))/97390341941886976 - (26811431115449375*nl3*x4o*x6o*sin(2*x2))/97390341
941886976 - (91159762267243165*x1o*x4o*x6o*sin(2*x2))/389561367767547904 + (4584
1573215021875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (22346
8201718488325*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (18474
5510259084525*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (20129
212153056875*nl3*x1o*x6o*cos(x2))/97390341941886976 + (40903163561988125*nl3*x4o
*x6o*cos(x2))/97390341941886976 + (129169981599127765*x1o*x4o*x6o*cos(x2))/38956
1367767547904 - (32183230731171875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97
390341941886976 - (28399037281265625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
97390341941886976 - (166664389110577875*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/389561367767547904 - (22553219899705625*nl3*x1o*x4o*x6o*cos(x2))/486951709709
43488 + (15130157344501875*nl3*x1o*x4o*x6o*sin(2*x2))/48695170970943488 + (25733
928751840625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 +
35764400001925494411/779122735535095808,
(84246
998654972125*nl3)/6232981884280766464 - (265524250310995999*x1o)/249319275371230
65856 - (7218133805501877*x4o)/3116490942140383232 - (552368348101346345*x6o*sin
(2*x2))/99727710148492263424 + (17718105922242375*nl3*x1o)/3116490942140383232 +
(4158135136733875*nl3*x4o)/779122735535095808 - (14886940808830921*x1o*x4o)/124
65963768561532928 + (245018069796345325*x6o*cos(x2))/99727710148492263424 - (556
99963706527625*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855074246131712 - (687875
8214286875*nl3*x6o*cos(x2))/6232981884280766464 - (6797377081848495*x1o*x6o*cos(
x2))/6232981884280766464 + (32765395181194425*x4o*x6o*cos(x2))/49863855074246131
712 + (7697153071294375*nl3*x6o*sin(2*x2))/12465963768561532928 + (3887954350400
0345*x1o*x6o*sin(2*x2))/24931927537123065856 - (93060243653767175*x4o*x6o*sin(2*
x2))/49863855074246131712 - (733162285474625*nl3*x1o*x4o)/389561367767547904 - (
8417725976144375*nl3*x1o*x6o*sin(2*x2))/6232981884280766464 + (328861005480625*n
l3*x4o*x6o*sin(2*x2))/389561367767547904 - (6791832204640995*x1o*x4o*x6o*sin(2*x
2))/12465963768561532928 + (5530625026953125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/6232981884280766464 + (20349315837003575*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/49863855074246131712 + (8946806897455375*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/12465963768561532928 + (2421241897378125*nl3*x1o*x6o*cos(x2))/31164909421403
83232 + (3744389071889375*nl3*x4o*x6o*cos(x2))/6232981884280766464 + (9165090646
811195*x1o*x4o*x6o*cos(x2))/12465963768561532928 - (1209882424128125*nl3*x1o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (4482477079871875*nl3*x4o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (22830591413640025*x1o*
x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 - (3207271594631875*
nl3*x1o*x4o*x6o*cos(x2))/3116490942140383232 + (483565097034375*nl3*x1o*x4o*x6o*

sin(2*x2))/779122735535095808 + (3633268504846875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos
(2*x2)/2 + 1/2))/3116490942140383232 - 1081849394167776961/6232981884280766464,
(285088760057739375*nl3)/24931927537123065856 + (446793918066797085*x1o)/4986385
5074246131712 + (1401238658741757*x4o)/288230376151711744 + (1001669832247102115
*x6o*sin(2*x2))/199455420296984526848 - (98527705055106875*nl3*x1o)/124659637685
61532928 - (253009701221375*nl3*x4o)/72057594037927936 + (30755023004485441*x1o*
x4o)/24931927537123065856 - (404478655744250315*x6o*cos(x2))/1994554202969845268
48 + (206793984364669575*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19945542029698452684
8 + (81957395469006875*nl3*x6o*cos(x2))/49863855074246131712 + (1050878005577109
05*x1o*x6o*cos(x2))/99727710148492263424 - (72905171807608875*x4o*x6o*cos(x2))/9
9727710148492263424 - (70883573628799375*nl3*x6o*sin(2*x2))/49863855074246131712
- (140324737726022965*x1o*x6o*sin(2*x2))/99727710148492263424 + (20328252492147
1255*x4o*x6o*sin(2*x2))/99727710148492263424 + (6646926304441375*nl3*x1o*x4o)/62
32981884280766464 + (36421253566641875*nl3*x1o*x6o*sin(2*x2))/249319275371230658
56 - (21484895574848125*nl3*x4o*x6o*sin(2*x2))/24931927537123065856 + (262343911
03450495*x1o*x4o*x6o*sin(2*x2))/49863855074246131712 - (46773646051596875*nl3*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855074246131712 - (55251168395829125*x1o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (66594739994820425*x4o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (20947747352459375*nl3
*x1o*x6o*cos(x2))/24931927537123065856 - (12043075480556875*nl3*x4o*x6o*cos(x2))
/24931927537123065856 - (36202443690567055*x1o*x4o*x6o*cos(x2))/4986385507424613
1712 + (14319093363084375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537
123065856 + (15792670740746875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/249319
27537123065856 + (41971023123029075*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/4
9863855074246131712 + (12381814714479375*nl3*x1o*x4o*x6o*cos(x2))/12465963768561
532928 - (6742978449174375*nl3*x1o*x4o*x6o*sin(2*x2))/12465963768561532928 - (13
365506890284375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532
928 + 11704792269987397893/99727710148492263424]
[ (10135306052106573595*x6o*sin(2*x2))/199455420296984526848 - (9153982034544477
17*x1o)/24931927537123065856 - (11504769992035939477*x4o)/49863855074246131712 (10073832327581712625*nl3)/49863855074246131712 + (389885965398499375*nl3*x1o)/
24931927537123065856 - (4769440218302280625*nl3*x4o)/24931927537123065856 + (277
098040291568033*x1o*x4o)/12465963768561532928 + (2416970559201672985*x6o*cos(x2)
)/199455420296984526848 - (1243233844202604175*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/199455420296984526848 - (12217919857443125*nl3*x6o*cos(x2))/997277101484922634
24 + (102273345458962005*x1o*x6o*cos(x2))/49863855074246131712 - (44357700430260
2635*x4o*x6o*cos(x2))/99727710148492263424 + (242600402638136875*nl3*x6o*sin(2*x
2))/99727710148492263424 + (521194518478224175*x1o*x6o*sin(2*x2))/49863855074246
131712 + (633650418425277935*x4o*x6o*sin(2*x2))/99727710148492263424 + (32795201
9125119375*nl3*x1o*x4o)/12465963768561532928 - (393207161455713125*nl3*x1o*x6o*s
in(2*x2))/49863855074246131712 - (701952344159563125*nl3*x4o*x6o*sin(2*x2))/4986
3855074246131712 + (56642968235824925*x1o*x4o*x6o*sin(2*x2))/2493192753712306585
6 + (9534861644584375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/9972771014849226342
4 - (346923976012263625*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855074246131
712 - (189083399169319475*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/997277101484922
63424 - (408153407280625*nl3*x1o*x6o*cos(x2))/49863855074246131712 + (2086100976
95336875*nl3*x4o*x6o*cos(x2))/49863855074246131712 - (143275349471491225*x1o*x4o
*x6o*cos(x2))/24931927537123065856 + (315356269129546875*nl3*x1o*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/49863855074246131712 + (118957412106184375*nl3*x4o*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/49863855074246131712 + (111952071826048625*x1o*x4o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 + (233690847295959375*nl3*x
1o*x4o*x6o*cos(x2))/24931927537123065856 - (66100277272473125*nl3*x1o*x4o*x6o*si
n(2*x2))/24931927537123065856 - (134560788105153125*nl3*x1o*x4o*x6o^2*sin(x2)*(c
os(2*x2)/2 + 1/2))/24931927537123065856 + 30094112265285678199/99727710148492263
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245471070191616 - (9469696546765992543*x4o)/1558245471070191616 + (1422219114381
830675*x6o*sin(2*x2))/6232981884280766464 + (151335203501104125*nl3*x1o)/1947806
83883773952 + (188016145033820375*nl3*x4o)/194780683883773952 + (263077586908934
373*x1o*x4o)/779122735535095808 - (723120083837157895*x6o*cos(x2))/6232981884280
766464 - (658946042495778675*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766

464 - (126098841613350625*nl3*x6o*cos(x2))/779122735535095808 - (319030927333612

155*x1o*x6o*cos(x2))/3116490942140383232 - (67660038917036105*x4o*x6o*cos(x2))/3
116490942140383232 + (112051074511118125*nl3*x6o*sin(2*x2))/779122735535095808 +
(350767032735137135*x1o*x6o*sin(2*x2))/3116490942140383232 - (69348706839306835
*x4o*x6o*sin(2*x2))/3116490942140383232 - (25732533708077625*nl3*x1o*x4o)/973903
41941886976 - (79651900188416875*nl3*x1o*x6o*sin(2*x2))/389561367767547904 - (34
979338604755625*nl3*x4o*x6o*sin(2*x2))/389561367767547904 - (63425059421902535*x
1o*x4o*x6o*sin(2*x2))/1558245471070191616 + (105654697072859375*nl3*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (372026547282484625*x1o*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (121665692563399875*x4o*x6o^2*sin(x
2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (58446135382659375*nl3*x1o*x6o*cos
(x2))/389561367767547904 + (26033965263318125*nl3*x4o*x6o*cos(x2))/3895613677675
47904 + (66332005321052995*x1o*x4o*x6o*cos(x2))/1558245471070191616 - (623093292
59490625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (162610
12812046875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (751
62281498738825*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 (11639857244116875*nl3*x1o*x4o*x6o*cos(x2))/194780683883773952 + (11429052530974
375*nl3*x1o*x4o*x6o*sin(2*x2))/194780683883773952 + (12195906083528125*nl3*x1o*x
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942140383232 - (310853521454290375*nl3)/389561367767547904 + (74109660525048125*
nl3*x1o)/194780683883773952 - (33630014027748875*nl3*x4o)/194780683883773952 + (
254090154496083583*x1o*x4o)/1558245471070191616 - (488172939776501665*x6o*cos(x2
))/12465963768561532928 - (709684693248796075*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
/12465963768561532928 - (32366601988713125*nl3*x6o*cos(x2))/389561367767547904 (294387885674641275*x1o*x6o*cos(x2))/6232981884280766464 - (117329875018217215*
x4o*x6o*cos(x2))/6232981884280766464 + (49692611619785625*nl3*x6o*sin(2*x2))/779
122735535095808 + (428758835156376955*x1o*x6o*sin(2*x2))/6232981884280766464 + (
1517549390042535*x4o*x6o*sin(2*x2))/6232981884280766464 - (4129426662225875*nl3*
x1o*x4o)/97390341941886976 - (39831411872369375*nl3*x1o*x6o*sin(2*x2))/389561367
767547904 - (22207072741969375*nl3*x4o*x6o*sin(2*x2))/389561367767547904 - (3639
7939433274515*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 + (24286931239090625*nl
3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (310928472809279075*x1
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (75264237158155675*x4
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (13380298571289375*nl
3*x1o*x6o*cos(x2))/194780683883773952 + (329376990534375*nl3*x4o*x6o*cos(x2))/12
173792742735872 + (24885319490587395*x1o*x4o*x6o*cos(x2))/3116490942140383232 (13467925239084375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952
- (615149931428125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488
- (44606609975514475*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/311649094214038
3232 - (470716798238125*nl3*x1o*x4o*x6o*cos(x2))/48695170970943488 + (3488182278
383125*nl3*x1o*x4o*x6o*sin(2*x2))/194780683883773952 + (897696022559375*nl3*x1o*
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6232981884280766464,
(75161829195618335*x1o)/1558245471070191616 - (84678345228767625*nl3)/
389561367767547904 + (273213216010532843*x4o)/1558245471070191616 + (74173971531
8594975*x6o*sin(2*x2))/6232981884280766464 - (5544618164793125*nl3*x1o)/19478068
3883773952 - (35783576250362875*nl3*x4o)/194780683883773952 + (14402864349542539
*x1o*x4o)/779122735535095808 - (182619002201441315*x6o*cos(x2))/6232981884280766
464 + (23431561750930925*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464
+ (11086594068784375*nl3*x6o*cos(x2))/779122735535095808 + (32322291863760545*x1
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4072780665*x1o*x6o*sin(2*x2))/3116490942140383232 + (17508684653349955*x4o*x6o*s
in(2*x2))/3116490942140383232 - (4189013151778375*nl3*x1o*x4o)/97390341941886976
+ (4483323304378125*nl3*x1o*x6o*sin(2*x2))/389561367767547904 - (94244512401981
25*nl3*x4o*x6o*sin(2*x2))/389561367767547904 + (4613693299464915*x1o*x4o*x6o*sin
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1/2))/3116490942140383232 + (1305934621780725*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
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sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (38755196373425*x1o*x4o*x6o^2*
sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (467291262173125*nl3*x1o*x4o*
x6o*cos(x2))/194780683883773952 + (482137133814375*nl3*x1o*x4o*x6o*sin(2*x2))/19
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2742735872 - (5844745226128125*nl3*x4o)/48695170970943488 + (39596297524181399*x
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26251644106875*nl3*x6o*cos(x2))/194780683883773952 - (69330416816522915*x1o*x6o*
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88 + (17638707015299375*nl3*x6o*sin(2*x2))/194780683883773952 + (228324340633135
35*x1o*x6o*sin(2*x2))/194780683883773952 + (50198209337403135*x4o*x6o*sin(2*x2))
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83883773952 + (77297872987903775*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/77912273
5535095808 + (14646221172338175*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367
767547904 + (2872003861550625*nl3*x1o*x6o*cos(x2))/24347585485471744 + (71634115
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5808 + (33572132848250625*nl3*x1o)/389561367767547904 - (5540999518169125*nl3*x4
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x2))/1558245471070191616 - (71755607290008835*x1o*x6o*cos(x2))/62329818842807664
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nl3*x6o*sin(2*x2))/1558245471070191616 + (117042563439212965*x1o*x6o*sin(2*x2))/
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+ (3043898804637375*nl3*x1o*x4o)/194780683883773952 - (17814802111588125*nl3*x1o
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79122735535095808 - (11679567809736805*x1o*x4o*x6o*sin(2*x2))/311649094214038323
2 + (22193689263128125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/155824547107019161
6 + (64282900180394675*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/623298188428076646
4 + (13850144981484825*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/623298188428076646
4 + (12326105110989375*nl3*x1o*x6o*cos(x2))/779122735535095808 - (29210296830193
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61367767547904 + (127881232908125*nl3*x1o*x4o*x6o*sin(2*x2))/389561367767547904
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47904 - 18899212013297188897/6232981884280766464,

(147797251292800625*nl3)/48695170970943488 - (70823025411226293*x1o)/1
94780683883773952 - (1172263928295789467*x4o)/194780683883773952 - (107121552245
7024325*x6o*sin(2*x2))/779122735535095808 + (652047064414125*nl3*x1o)/2434758548
5471744 + (48241418279767125*nl3*x4o)/24347585485471744 - (25772819794650859*x1o
*x4o)/97390341941886976 + (246330060804924035*x6o*cos(x2))/779122735535095808 +
(4539184373807675*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (91939
08618221875*nl3*x6o*cos(x2))/97390341941886976 - (22139174458072805*x1o*x6o*cos(
x2))/389561367767547904 + (1704162001723005*x4o*x6o*cos(x2))/389561367767547904
+ (35593163578343125*nl3*x6o*sin(2*x2))/97390341941886976 + (11338084282278575*x
1o*x6o*sin(2*x2))/389561367767547904 - (68134151946994135*x4o*x6o*sin(2*x2))/389
561367767547904 + (8329454405812625*nl3*x1o*x4o)/12173792742735872 - (2535533267
674375*nl3*x1o*x6o*sin(2*x2))/48695170970943488 + (15881817111765625*nl3*x4o*x6o
*sin(2*x2))/48695170970943488 - (60374415223075*x1o*x4o*x6o*sin(2*x2))/194780683
883773952 + (6396479966390625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941
886976 + (39071907188588775*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3895613677675
47904 - (13430395706334375*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/38956136776754
7904 + (7157141169233125*nl3*x1o*x6o*cos(x2))/48695170970943488 - (9128565927414
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/2))/48695170970943488 + (1809280776528125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
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921391021875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471744 +
21715584127362392483/389561367767547904, (41315370197041375*nl3*x1o)/31164909421
40383232 - (554278435221832455*x1o)/99727710148492263424 - (2181504637481794061*
x4o)/99727710148492263424 - (624701772403343145*x6o*sin(2*x2))/39891084059396905
3696 - (189658885539403875*nl3)/6232981884280766464 - (1751906707630125*nl3*x4o)
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3968220385285*x6o*cos(x2))/398910840593969053696 - (645888305739408375*x6o^2*sin
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n(2*x2))/199455420296984526848 - (234362598486702705*x4o*x6o*sin(2*x2))/19945542
0296984526848 - (493907406503125*nl3*x1o*x4o)/389561367767547904 - (161530945849
84375*nl3*x1o*x6o*sin(2*x2))/6232981884280766464 - (1192934212239375*nl3*x4o*x6o
*sin(2*x2))/6232981884280766464 - (11767221821109235*x1o*x4o*x6o*sin(2*x2))/9972
7710148492263424 + (22084112865009375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/124
65963768561532928 + (319690513467712975*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1
99455420296984526848 + (35440272032934825*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
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232 + (2415376635199375*nl3*x4o*x6o*cos(x2))/3116490942140383232 + (425751028366
74915*x1o*x4o*x6o*cos(x2))/99727710148492263424 - (13928218249871875*nl3*x1o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (883954215040625*nl3*x4o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (47586269724109225*x1o*x
4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (1492607716751875*n
l3*x1o*x4o*x6o*cos(x2))/3116490942140383232 + (64645084574375*nl3*x1o*x4o*x6o*si
n(2*x2))/389561367767547904 + (893342473096875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/1558245471070191616 + 30502638519136745179/199455420296984526848,
(77716380555953625*nl3)/3116490942140383232 + (23493822
2253581185*x1o)/49863855074246131712 + (399673115953439919*x4o)/4986385507424613
1712 + (531432053392986715*x6o*sin(2*x2))/199455420296984526848 - (3388807902271
1625*nl3*x1o)/3116490942140383232 + (5684873915033125*nl3*x4o)/31164909421403832
32 - (75285736035305669*x1o*x4o)/24931927537123065856 - (137487773716078715*x6o*
cos(x2))/199455420296984526848 + (260480710937777375*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/199455420296984526848 + (2048316429941875*nl3*x6o*cos(x2))/7791227355350
95808 + (133723208811467505*x1o*x6o*cos(x2))/99727710148492263424 + (10643500964
0280715*x4o*x6o*cos(x2))/99727710148492263424 - (19547504411105625*nl3*x6o*sin(2
*x2))/12465963768561532928 - (177573871899749045*x1o*x6o*sin(2*x2))/997277101484

92263424 + (130145643719648365*x4o*x6o*sin(2*x2))/99727710148492263424 + (223628

175377125*nl3*x1o*x4o)/389561367767547904 + (6320572771510625*nl3*x1o*x6o*sin(2*
x2))/3116490942140383232 - (551269838885625*nl3*x4o*x6o*sin(2*x2))/3116490942140
383232 + (1375673644736205*x1o*x4o*x6o*sin(2*x2))/49863855074246131712 - (176657
36990865625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (13026
0547631186425*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (783
1984683672275*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (141
45143602894375*nl3*x1o*x6o*cos(x2))/6232981884280766464 - (3538517143279375*nl3*
x4o*x6o*cos(x2))/6232981884280766464 - (16952965988691185*x1o*x4o*x6o*cos(x2))/4
9863855074246131712 + (5719418297978125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/3116490942140383232 + (141358239196875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/779122735535095808 + (17574878004898125*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/49863855074246131712 + (271888203165625*nl3*x1o*x4o*x6o*cos(x2))/7791227
35535095808 - (84926907250625*nl3*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 - (
1287196791684375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383
232 - 18698480561772258539/99727710148492263424]

clear all
clc;
syms x1 x2 x3 x4 x5 x6 x7 u1 u2
global F
Acte=-0.7; Bcte=-0.2; I1=6.8e-2; I2=2e-2;
a1=0.0135; b1=0.0924; a2=0.02;
b2=0.09;
Mfg=0.32; B1phsi=6e-3; B1phi=1e-1; Kgy=0.05;
% %%Esta mas agrada mas
% % % funciona con relajacion y alfa=1e-3, da marginal sin relajacion y epsilon=
1e-3
% z5=[-0.4,0.4];%%x6*cos(x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4]
% z3=[0.827,1];%sin(x2)/x2, x2=[-pi/3 pi/3] Ampliando la region de modelado
% z4=[-0.4,0.4];%x6*sin(2x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4] ////
% z2=[-2,2];%x4
% z1=[-1.9,1.9];%x1
%%Nueva region
% % funciona con relajacion y alfa=1e-3, da marginal sin relajacion y epsilon=1e
-3
z5=[-0.4,0.4];%%x6*cos(x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4]
z3=[0.827,1];%sin(x2)/x2, x2=[-pi/3 pi/3] Ampliando la region de modelado
z4=[-0.4,0.4];%x6*sin(2x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4] ////
z2=[-0.5,0.5];%x4
z1=[-0.5,0.5];%x1
% z2=[-1,1];%x4
% z1=[-1,1];%x1
n=1;
for m=1:2
for l=1:2
for k=1:2
for j=1:2
for i=1:2
A{n}=[-1/1.2,
0,
0,
0,
0, 0,
0, 0, 0;
0,
0,
1,
0,
0, 0,
0
, 0, 0;
(b1+a1*z1(m))*((1-Kgy*z5(i))/I1),
-Mfg*z3(k

)/I1,
, 0 ,0;

-B1phsi/I1,

0,

0, 0.0163*z4(j)/I1,

0,

0
0,

0,

-1,

0, 0,

0,

0, 1,

, 0 ,0;
0,

0,

0,

, 0 ,0;
0,
0,

0,
(b2+a2*z2(l))/I2,

0, -B1phi/I2,

-1/I

2, 0, 0;
((Bcte/2))*(b1+a1*z1(m))-(Acte/1.2)*(b1/2+a1*z1(m)),
0,
0,
0, 0,

0,
-0.5, 0, 0;

0,1,0,0,0,0,0,0,0;
0,0,0,0,1,0,0,0,0];
B{n}=
[ 1.1/1.2,
0;
0,
0;
0,
0;
0,
0.8;
0,
0;
0,
0;
(1.1*Acte/1.2)*(b1/2+a1*z1(m)),
0,
0;
0,
0];
C{n}=[0 1 0 0 0 0 0 0 0;
0 0 0 0 1 0 0 0 0];
E{n}=[1;1];
D{n}=[0;0;0;0;0;0;0;0;0];
n=n+1;
end
end
end
end
end
[n m]=size(B{1});
r=numel(A);
setlmis([]);
miu=sqrt(2)*2.5;
miu2=miu*miu;
X0=[0;0.001;0;0;0.001;0;0;0;0];
%X0=[1;-0.2;0;1;-0.2;0;0;0;0];
epsilon=2.5e-3;
% % Se definen X y M dimensiones correspondientes.
gamma2=lmivar(1,[1 1]);
X=lmivar(1,[n 1]);
for i=1:r
M{i}=lmivar(2,[m n]);
end
lmix=newlmi; %LMI X=X'>0
lmiterm([-lmix 1 1 X],1,1);
%
%
for j=1:r
lmi1=newlmi;

0;

lmiterm([-lmi1 1 1 X],1,1);
lmiterm([-lmi1 2 1 M{j}],1,1);
lmiterm([-lmi1 2 2 0],miu2);
end
%LMI [I X0';X0 X]>0
lmi2=newlmi;
lmiterm([-lmi2 1 1 0],1);
lmiterm([-lmi2 2 1 0],X0);
lmiterm([-lmi2 2 2 X],1,1);
% alfa=0.55;
for i=1:r
for j=1:r
lmix=newlmi; %Gama_ii
lmiterm([lmix 1 1 X],A{i},2/(r-1),'s');
lmiterm([lmix 1 1 M{i}],B{i},2/(r-1),'s');
% lmiterm([lmix 1 1 X],alfa,2/(r-1));
lmiterm([lmix 1 1 0],epsilon*eye(n)*2/(r-1));
lmiterm([lmix 2 1 X],C{i},2/(r-1));
lmiterm([lmix 2 2 0],-2/(r-1));
lmiterm([lmix 3 1 0],(2/(r-1))*D{i}');
lmiterm([lmix 3 1 X],E{i}'*C{i},2/(r-1));
lmiterm([lmix 3 3 gamma2],-1,2/(r-1));
lmiterm([lmix 4 3 0],E{i}*(2/(r-1)));
lmiterm([lmix 4 4 0],-2/(r-1));
% Gama_ij
lmiterm([lmix 1 1 X],A{i},1,'s');
lmiterm([lmix 1 1 M{j}],B{i},1,'s');
lmiterm([lmix 1 1 0],epsilon*eye(n));
%lmiterm([lmix 1 1 X],alfa,1);
lmiterm([lmix 2 1 X],C{i},1);
lmiterm([lmix 2 2 0],-1);
lmiterm([lmix 3 1 0],D{i}');
lmiterm([lmix 3 1 X],E{j}'*C{i},1);
lmiterm([lmix 3 3 gamma2],-1,1);
lmiterm([lmix 4 3 0],E{j});
lmiterm([lmix 4 4 0],-1);
% Gama_ji
lmiterm([lmix 1 1 X],A{j},1,'s');
lmiterm([lmix 1 1 M{i}],B{j},1,'s');
lmiterm([lmix 1 1 0],epsilon*eye(n));
%lmiterm([lmix 1 1 X],alfa,1);
lmiterm([lmix 2 1 X],C{j},1);
lmiterm([lmix 2 2 0],-1);
lmiterm([lmix 3 1 0],D{j}');
lmiterm([lmix 3 1 X],E{i}'*C{j},1);
lmiterm([lmix 3 3 gamma2],-1,1);
lmiterm([lmix 4 3 0],E{i});
lmiterm([lmix 4 4 0],-1);
end
end
%Se obtienen la LMIs
lmis=getlmis;
c=[1 zeros(1,decnbr(lmis)-1)];
[copt,xopt]=mincx(lmis,c);
if not(isempty(copt))
X=dec2mat(lmis,xopt,X); P=inv(X);
for j=1:r

M{j}=dec2mat(lmis,xopt,M{j}); F{j}=M{j}*P;
end
gamma2=dec2mat(lmis,xopt,gamma2); gamma=sqrt(gamma2);
else
disp('no factible')
end
% % Prueba de valores propios
for i=1:r
for j=1:r
gama{i,j}=A{i}*X+B{i}*M{j}+(A{i}*X+B{i}*M{j}).';
end
end
var1=0; var2=0;
for i=1:r
for j=1:r
var1=var1+1; var2=var2+1;
ValPr1(var1)=max(eig((2/(r-1))*gama{i,i}+gama{i,j}+gama{j,i}));
ValPr2(var2)=max(eig(gama{i,j}));
end
end
figure
stem(ValPr1)
figure
stem(ValPr2)
max(ValPr1)
max(ValPr2)
eig(P)
min(eig(P))

%%%%%%%%%%%%%%%%%%%
X0=[0;0.01;0;0;0.01;0;0;0;0];
[
(1019748186071441375*nl3)/779122735535095808 - (45160044742434
7429*x1o)/3116490942140383232 - (112788221915420971*x4o)/3116490942140383232 - (
159489166084061915*x6o*sin(2*x2))/12465963768561532928 - (38517933387212125*nl3*
x1o)/389561367767547904 - (11301626757091125*nl3*x4o)/389561367767547904 - (8411
4624327315367*x1o*x4o)/1558245471070191616 + (622518897253651085*x6o*cos(x2))/12
465963768561532928 - (82185115865913425*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465
963768561532928 + (31979425491814375*nl3*x6o*cos(x2))/1558245471070191616 + (385
37133282908205*x1o*x6o*cos(x2))/6232981884280766464 + (141336813907321015*x4o*x6
o*cos(x2))/6232981884280766464 - (84722796582079375*nl3*x6o*sin(2*x2))/155824547
1070191616 + (55599682323310685*x1o*x6o*sin(2*x2))/6232981884280766464 - (275317
302050964225*x4o*x6o*sin(2*x2))/6232981884280766464 + (11278205555254375*nl3*x1o
*x4o)/194780683883773952 - (1048316363316875*nl3*x1o*x6o*sin(2*x2))/779122735535
095808 + (13311666127815625*nl3*x4o*x6o*sin(2*x2))/779122735535095808 + (2505127
7786512195*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 + (3307144465603125*nl3*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (44533710839144825*x1o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (32232867361837575*x4o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (2344450427915625*nl3*x1o
*x6o*cos(x2))/779122735535095808 - (13385367455885625*nl3*x4o*x6o*cos(x2))/77912
2735535095808 - (40635282702472845*x1o*x4o*x6o*cos(x2))/3116490942140383232 + (6
912832605553125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 +
(5285589523265625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808
+ (41031993335054925*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383
232 + (5617409290704375*nl3*x1o*x4o*x6o*cos(x2))/389561367767547904 - (238522810

9781875*nl3*x1o*x4o*x6o*sin(2*x2))/389561367767547904 - (5896624170259375*nl3*x1
o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - 317089252212640888
93/6232981884280766464, (8043205410087201375*nl3)/779122735535095808 - (39752531
26345674429*x1o)/3116490942140383232 + (3985604611302044065*x4o)/311649094214038
3232 - (5471121716618103195*x6o*sin(2*x2))/12465963768561532928 - (1081365432653
51875*nl3*x1o)/389561367767547904 + (205220878493116875*nl3*x4o)/389561367767547
904 + (101780691242485247*x1o*x4o)/1558245471070191616 + (4433113888395841225*x6
o*cos(x2))/12465963768561532928 - (414515834690006075*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/12465963768561532928 + (77915318587918125*nl3*x6o*cos(x2))/155824547107
0191616 + (59921625017260575*x1o*x6o*cos(x2))/6232981884280766464 - (31206597259
2731675*x4o*x6o*cos(x2))/6232981884280766464 - (73030968345523125*nl3*x6o*sin(2*
x2))/1558245471070191616 + (386706019689383255*x1o*x6o*sin(2*x2))/62329818842807
66464 + (765379644983618365*x4o*x6o*sin(2*x2))/6232981884280766464 - (7361578191
8712375*nl3*x1o*x4o)/194780683883773952 + (16893188867358125*nl3*x1o*x6o*sin(2*x
2))/779122735535095808 - (34027371547283125*nl3*x4o*x6o*sin(2*x2))/7791227355350
95808 - (77973776639383065*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 - (1739265
7096259375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (2190335
79050442025*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (203325
221104138525*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (23094
385542000625*nl3*x1o*x6o*cos(x2))/779122735535095808 + (54871270345265625*nl3*x4
o*x6o*cos(x2))/779122735535095808 + (77188795504219355*x1o*x4o*x6o*cos(x2))/3116
490942140383232 + (39547596310984375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
779122735535095808 - (38170288411909375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/779122735535095808 - (173203128875096425*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/3116490942140383232 - (15294622811853125*nl3*x1o*x4o*x6o*cos(x2))/3895613
67767547904 + (18372470220753125*nl3*x1o*x4o*x6o*sin(2*x2))/389561367767547904 +
(26399412363109375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3895613677675
47904 - 86728700491654333195/6232981884280766464, (1694304093476906875*nl3)/3895
61367767547904 - (464333522117975677*x1o)/1558245471070191616 + (331944689073574
625*x4o)/1558245471070191616 - (672728992914660085*x6o*sin(2*x2))/62329818842807
66464 - (61416461429169875*nl3*x1o)/194780683883773952 + (29852687229671875*nl3*
x4o)/194780683883773952 - (29699020951151169*x1o*x4o)/779122735535095808 + (5681
22724687865925*x6o*cos(x2))/6232981884280766464 - (128688722195231125*x6o^2*sin(
x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (57675251855429375*nl3*x6o*cos(x2
))/779122735535095808 - (18440128786040085*x1o*x6o*cos(x2))/3116490942140383232
+ (38301124316373545*x4o*x6o*cos(x2))/3116490942140383232 - (94940212685521875*n
l3*x6o*sin(2*x2))/779122735535095808 + (104695025665165885*x1o*x6o*sin(2*x2))/31
16490942140383232 - (72845238713540505*x4o*x6o*sin(2*x2))/3116490942140383232 (5256677712784875*nl3*x1o*x4o)/97390341941886976 + (2772262615476875*nl3*x1o*x6o
*sin(2*x2))/389561367767547904 + (4787137857418125*nl3*x4o*x6o*sin(2*x2))/389561
367767547904 + (1026101828115985*x1o*x4o*x6o*sin(2*x2))/1558245471070191616 - (1
415834606059375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (670
66449016103075*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (178
58040990867175*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (393
7653081449375*nl3*x1o*x6o*cos(x2))/389561367767547904 + (899226166994375*nl3*x4o
*x6o*cos(x2))/389561367767547904 - (8429333123685625*x1o*x4o*x6o*cos(x2))/155824
5471070191616 + (11042617811359375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/38
9561367767547904 - (3507073200459375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
389561367767547904 - (6487271174445775*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/1558245471070191616 + (351750730625625*nl3*x1o*x4o*x6o*cos(x2))/19478068388377
3952 + (1738608500726875*nl3*x1o*x4o*x6o*sin(2*x2))/194780683883773952 + (126620
4315359375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - 3
9652512328860883299/3116490942140383232, (45564108947213125*nl3)/243475854854717
44 + (643784030423727133*x1o)/3116490942140383232 - (1753680980842240117*x4o)/31
16490942140383232 + (737029283280642795*x6o*sin(2*x2))/12465963768561532928 - (1
6455661607834125*nl3*x1o)/48695170970943488 - (34440136069180875*nl3*x4o)/194780
683883773952 - (10236122907820205*x1o*x4o)/1558245471070191616 - (66730921536238
4205*x6o*cos(x2))/12465963768561532928 + (136423418302005925*x6o^2*sin(x2)*(cos(
2*x2)/2 + 1/2))/12465963768561532928 + (58094333166055625*nl3*x6o*cos(x2))/77912
2735535095808 + (50174836585299015*x1o*x6o*cos(x2))/6232981884280766464 + (12210

5221397826185*x4o*x6o*cos(x2))/6232981884280766464 - (47293688779486875*nl3*x6o*
sin(2*x2))/389561367767547904 - (80637167183320605*x1o*x6o*sin(2*x2))/6232981884
280766464 - (253324501053277095*x4o*x6o*sin(2*x2))/6232981884280766464 + (156652
36767480125*nl3*x1o*x4o)/97390341941886976 + (5231505422094375*nl3*x1o*x6o*sin(2
*x2))/194780683883773952 + (11591390468891875*nl3*x4o*x6o*sin(2*x2))/38956136776
7547904 + (73156646430587205*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 - (10825
982888390625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (122394
549814518475*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (15264
9724206905625*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (6250
668954431875*nl3*x1o*x6o*cos(x2))/389561367767547904 - (9714247724189375*nl3*x4o
*x6o*cos(x2))/194780683883773952 - (111815003772528895*x1o*x4o*x6o*cos(x2))/3116
490942140383232 + (8340919868921875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3
89561367767547904 + (1497721006278125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
/48695170970943488 + (142327887078837875*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/3116490942140383232 + (4979245346958125*nl3*x1o*x4o*x6o*cos(x2))/97390341941
886976 - (6110775620860625*nl3*x1o*x4o*x6o*sin(2*x2))/194780683883773952 - (2732
672560915625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 24793542159240378703/6232981884280766464, (1948502832431945125*nl3)/194780683883
773952 - (421351724238830655*x1o)/779122735535095808 + (675786749300064063*x4o)/
779122735535095808 - (444774210726618585*x6o*sin(2*x2))/3116490942140383232 - (9
7834738095080125*nl3*x1o)/97390341941886976 + (64824778404940375*nl3*x4o)/973903
41941886976 + (20086925679524473*x1o*x4o)/389561367767547904 + (4609253120718218
25*x6o*cos(x2))/3116490942140383232 - (51540589006622375*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/3116490942140383232 + (91772519263678125*nl3*x6o*cos(x2))/3895613677
67547904 + (7323276105828255*x1o*x6o*cos(x2))/1558245471070191616 - (55044401810
034515*x4o*x6o*cos(x2))/1558245471070191616 - (132021946983891875*nl3*x6o*sin(2*
x2))/389561367767547904 + (60893079529613805*x1o*x6o*sin(2*x2))/1558245471070191
616 + (119289570760895895*x4o*x6o*sin(2*x2))/1558245471070191616 - (137677793227
60375*nl3*x1o*x4o)/48695170970943488 + (12981056696989375*nl3*x1o*x6o*sin(2*x2))
/194780683883773952 - (2800970022898125*nl3*x4o*x6o*sin(2*x2))/19478068388377395
2 + (628085073147865*x1o*x4o*x6o*sin(2*x2))/779122735535095808 - (13133369050396
875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (959106121375672
25*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (125906091997812
25*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (800403065840562
5*nl3*x1o*x6o*cos(x2))/194780683883773952 + (6062255324514375*nl3*x4o*x6o*cos(x2
))/194780683883773952 - (8762108780149745*x1o*x4o*x6o*cos(x2))/77912273553509580
8 + (15194351716696875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19478068388377
3952 - (4318700165203125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883
773952 - (9133674825475325*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/7791227355
35095808 + (739160849058125*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 + (230033
9092225625*nl3*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (1448474144678125*nl3*
x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - 32675773926417672
277/1558245471070191616,
(164430295744971875*nl3)/973903419418869
76 - (1019149821324924909*x1o)/6232981884280766464 + (4566315603403407573*x4o)/6
232981884280766464 - (4144661604467027775*x6o*sin(2*x2))/24931927537123065856 (40325674100235625*nl3*x1o)/389561367767547904 + (34791784911811625*nl3*x4o)/973
90341941886976 - (102441082069458601*x1o*x4o)/3116490942140383232 + (12160593809
03590145*x6o*cos(x2))/24931927537123065856 - (3998628309452075*x6o^2*sin(x2)*(co
s(2*x2)/2 + 1/2))/24931927537123065856 + (35219048570558125*nl3*x6o*cos(x2))/155
8245471070191616 - (7341178642950725*x1o*x6o*cos(x2))/12465963768561532928 - (21
5197907528070715*x4o*x6o*cos(x2))/12465963768561532928 - (36667497887390625*nl3*
x6o*sin(2*x2))/1558245471070191616 - (8515972947402585*x1o*x6o*sin(2*x2))/124659
63768561532928 + (646816672857435605*x4o*x6o*sin(2*x2))/12465963768561532928 - (
39081554630650125*nl3*x1o*x4o)/194780683883773952 + (918113489179375*nl3*x1o*x6o
*sin(2*x2))/97390341941886976 - (18691953793878125*nl3*x4o*x6o*sin(2*x2))/779122
735535095808 - (36985848119251725*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 - (
2141355398459375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (71
721313108475525*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (1
40598768078820225*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 (586877779203125*nl3*x1o*x6o*cos(x2))/389561367767547904 + (33006333066608125*nl

3*x4o*x6o*cos(x2))/779122735535095808 + (96040884088970855*x1o*x4o*x6o*cos(x2))/
6232981884280766464 + (6041792980903125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/779122735535095808 - (7940584030021875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/389561367767547904 - (156836064796337025*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/6232981884280766464 - (5383251097435625*nl3*x1o*x4o*x6o*cos(x2))/194780
683883773952 + (2038713348809375*nl3*x1o*x4o*x6o*sin(2*x2))/97390341941886976 +
(12305794884753125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/38956136776754
7904 - 47711082531299227207/12465963768561532928, (391067695144676171*x4o)/97390
341941886976 - (460058972638886257*x1o)/194780683883773952 - (207188733276138462
5*nl3)/97390341941886976 - (57564792044281595*x6o*sin(2*x2))/97390341941886976 +
(186270901551785625*nl3*x1o)/48695170970943488 + (93849073722937375*nl3*x4o)/48
695170970943488 - (7142745478228255*x1o*x4o)/24347585485471744 + (42652409413957
0615*x6o*cos(x2))/779122735535095808 - (12140577372938325*x6o^2*sin(x2)*(cos(2*x
2)/2 + 1/2))/97390341941886976 - (168862358779855625*nl3*x6o*cos(x2))/1947806838
83773952 - (30060836031256265*x1o*x6o*cos(x2))/389561367767547904 - (17076852083
900385*x4o*x6o*cos(x2))/194780683883773952 + (273610850174400625*nl3*x6o*sin(2*x
2))/194780683883773952 + (3480682660719795*x1o*x6o*sin(2*x2))/24347585485471744
+ (76967857166304815*x4o*x6o*sin(2*x2))/389561367767547904 - (35271885202701375*
nl3*x1o*x4o)/24347585485471744 - (32723103041598125*nl3*x1o*x6o*sin(2*x2))/97390
341941886976 - (28799004089596875*nl3*x4o*x6o*sin(2*x2))/97390341941886976 - (45
933996176933185*x1o*x4o*x6o*sin(2*x2))/194780683883773952 + (34639648592478125*n
l3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (45154449345187575*x1
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (94650671222722025*x4o
*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (17706844493005625*nl3*
x1o*x6o*cos(x2))/97390341941886976 + (45543629311709375*nl3*x4o*x6o*cos(x2))/973
90341941886976 + (33868367325695575*x1o*x4o*x6o*cos(x2))/97390341941886976 - (25
389935547390625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - (
29660170295209375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 (85751865757361825*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19478068388377395
2 - (24123545837299375*nl3*x1o*x4o*x6o*cos(x2))/48695170970943488 + (15742778750
994375*nl3*x1o*x4o*x6o*sin(2*x2))/48695170970943488 + (26526777204396875*nl3*x1o
*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + 17589615574846496681
/389561367767547904,
(219606478465061375*nl3)/1246596
3768561532928 - (281389436013272265*x1o)/24931927537123065856 - (203980252684103
41*x4o)/6232981884280766464 - (4395739761827045*x6o*sin(2*x2))/77912273553509580
8 + (30510120895114375*nl3*x1o)/6232981884280766464 + (36415403949521375*nl3*x4o
)/6232981884280766464 - (7632488327953929*x1o*x4o)/6232981884280766464 + (252976
941922293685*x6o*cos(x2))/99727710148492263424 - (50309892968259225*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/49863855074246131712 - (19034129086916875*nl3*x6o*cos(x2)
)/24931927537123065856 - (48696122621150095*x1o*x6o*cos(x2))/4986385507424613171
2 + (17687703383441855*x4o*x6o*cos(x2))/24931927537123065856 + (4635044355143125
*nl3*x6o*sin(2*x2))/24931927537123065856 + (36742914554927745*x1o*x6o*sin(2*x2))
/24931927537123065856 - (101610433453838955*x4o*x6o*sin(2*x2))/49863855074246131
712 - (5851540293355625*nl3*x1o*x4o)/3116490942140383232 - (13286330259204375*nl
3*x1o*x6o*sin(2*x2))/12465963768561532928 + (9752257132278125*nl3*x4o*x6o*sin(2*
x2))/12465963768561532928 - (14394880630148875*x1o*x4o*x6o*sin(2*x2))/2493192753
7123065856 + (15575371382434375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/249319275
37123065856 + (2277197137943075*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/124659637
68561532928 + (37033770101852575*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855
074246131712 + (6735518282538125*nl3*x1o*x6o*cos(x2))/12465963768561532928 + (80
19173543553125*nl3*x4o*x6o*cos(x2))/12465963768561532928 + (2273933041562355*x1o
*x4o*x6o*cos(x2))/3116490942140383232 - (767392845278125*nl3*x1o*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/12465963768561532928 - (9401608006265625*nl3*x4o*x6o^2*sin(x
2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (22960353561583125*x1o*x4o*x6o^2*
sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 - (6452554795481875*nl3*x1o*x4
o*x6o*cos(x2))/6232981884280766464 + (4236333497235625*nl3*x1o*x4o*x6o*sin(2*x2)
)/6232981884280766464 + (7344527142596875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/6232981884280766464 - 9402848073942384773/49863855074246131712,
(58663070643887375*nl3)/6232981884280766464 + (474363597935912547*x1o)
/49863855074246131712 + (271993748536924487*x4o)/49863855074246131712 + (1017641

320310944185*x6o*sin(2*x2))/199455420296984526848 - (23116704171832625*nl3*x1o)/
3116490942140383232 - (11883976493117125*nl3*x4o)/3116490942140383232 + (3276342
5334485843*x1o*x4o)/24931927537123065856 - (414690227944450495*x6o*cos(x2))/1994
55420296984526848 + (185220060419947275*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19945
5420296984526848 + (8542983498619375*nl3*x6o*cos(x2))/6232981884280766464 + (947
81842826196205*x1o*x6o*cos(x2))/99727710148492263424 - (77620585410046055*x4o*x6
o*cos(x2))/99727710148492263424 - (6776570133971875*nl3*x6o*sin(2*x2))/623298188
4280766464 - (131271174579029615*x1o*x6o*sin(2*x2))/99727710148492263424 + (2163
62459084296465*x4o*x6o*sin(2*x2))/99727710148492263424 + (1632430794001625*nl3*x
1o*x4o)/1558245471070191616 + (1877882783664375*nl3*x1o*x6o*sin(2*x2))/155824547
1070191616 - (1244605461311875*nl3*x4o*x6o*sin(2*x2))/1558245471070191616 + (276
77720821953165*x1o*x4o*x6o*sin(2*x2))/49863855074246131712 - (8640486819953125*n
l3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (33938989462333825*
x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (68940534542145825
*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (1962598586906875
*nl3*x1o*x6o*cos(x2))/3116490942140383232 - (831613165461875*nl3*x4o*x6o*cos(x2)
)/1558245471070191616 - (36438465205382055*x1o*x4o*x6o*cos(x2))/4986385507424613
1712 + (1665232129153125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/623298188428
0766464 + (4137705909384375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/623298188
4280766464 + (42493957239591375*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863
855074246131712 + (1581844653116875*nl3*x1o*x4o*x6o*cos(x2))/1558245471070191616
- (228496723366875*nl3*x1o*x4o*x6o*sin(2*x2))/389561367767547904 - (33995244246
28125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + 12635
199819122434227/99727710148492263424]
[ (17978024339316460365*x6o*sin(2*x2))/398910840593969053696 - (2274371110083398
971*x1o)/49863855074246131712 - (17725114294415516633*x4o)/99727710148492263424
- (35728983661175667875*nl3)/199455420296984526848 + (2324617991624312375*nl3*x1
o)/99727710148492263424 - (18446297260037323875*nl3*x4o)/99727710148492263424 +
(705652059189049765*x1o*x4o)/24931927537123065856 + (3111601690769477425*x6o*cos
(x2))/199455420296984526848 - (164693734230028525*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/24931927537123065856 - (853144273514168125*nl3*x6o*cos(x2))/398910840593969
053696 + (74088669050459225*x1o*x6o*cos(x2))/199455420296984526848 - (8331214708
38719135*x4o*x6o*cos(x2))/99727710148492263424 + (1161270326764870625*nl3*x6o*si
n(2*x2))/398910840593969053696 + (551504339668083535*x1o*x6o*sin(2*x2))/49863855
074246131712 + (2320862463856401805*x4o*x6o*sin(2*x2))/199455420296984526848 + (
657160422715056375*nl3*x1o*x4o)/49863855074246131712 - (1782955864455938125*nl3*
x1o*x6o*sin(2*x2))/199455420296984526848 - (3239885213436049375*nl3*x4o*x6o*sin(
2*x2))/199455420296984526848 + (29601945497089375*x1o*x4o*x6o*sin(2*x2))/2493192
7537123065856 + (194241850282759375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/39891
0840593969053696 - (1121740620607559925*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1
99455420296984526848 - (758294758934275*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1
2465963768561532928 + (549540260640610625*nl3*x1o*x6o*cos(x2))/19945542029698452
6848 + (1712761557794271875*nl3*x4o*x6o*cos(x2))/199455420296984526848 - (297637
452874513735*x1o*x4o*x6o*cos(x2))/99727710148492263424 + (883271984729303125*nl3
*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/199455420296984526848 - (562892599664062
5*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/199455420296984526848 + (8791081759
2584075*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 + (54593
5634143850625*nl3*x1o*x4o*x6o*cos(x2))/99727710148492263424 - (60623712279178125
*nl3*x1o*x4o*x6o*sin(2*x2))/99727710148492263424 - (96730998200096875*nl3*x1o*x4
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 + 59698445889305662215
/199455420296984526848,
(5
2135841022557125*nl3)/97390341941886976 - (250098594167987345*x1o)/7791227355350
95808 - (4534096090947697853*x4o)/779122735535095808 + (704613974935530755*x6o*s
in(2*x2))/3116490942140383232 + (18492988758810375*nl3*x1o)/24347585485471744 +
(39779549060366125*nl3*x4o)/48695170970943488 + (122421913519309729*x1o*x4o)/389
561367767547904 - (340328683759558765*x6o*cos(x2))/3116490942140383232 - (315285
864140130275*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (314567985
27631875*nl3*x6o*cos(x2))/194780683883773952 - (153892923494550055*x1o*x6o*cos(x
2))/1558245471070191616 - (38588397191040775*x4o*x6o*cos(x2))/155824547107019161
6 + (28614492271688125*nl3*x6o*sin(2*x2))/194780683883773952 + (1688904888321684

25*x1o*x6o*sin(2*x2))/1558245471070191616 - (25836379039706355*x4o*x6o*sin(2*x2)
)/1558245471070191616 - (1553269773999875*nl3*x1o*x4o)/6086896371367936 - (11990
73932758125*nl3*x1o*x6o*sin(2*x2))/6086896371367936 - (8560211008313125*nl3*x4o*
x6o*sin(2*x2))/97390341941886976 - (28654519425163285*x1o*x4o*x6o*sin(2*x2))/779
122735535095808 + (24934870274309375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1947
80683883773952 + (171952243089361875*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558
245471070191616 + (57326820568696075*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558
245471070191616 + (441143682303125*nl3*x1o*x6o*cos(x2))/3043448185683968 + (6864
396025070625*nl3*x4o*x6o*cos(x2))/97390341941886976 + (33292968215971215*x1o*x4o
*x6o*cos(x2))/779122735535095808 - (451398055090625*nl3*x1o*x6o^2*sin(x2)*(cos(2
*x2)/2 + 1/2))/3043448185683968 - (3765171536971875*nl3*x4o*x6o^2*sin(x2)*(cos(2
*x2)/2 + 1/2))/97390341941886976 - (36082828936614375*x1o*x4o*x6o^2*sin(x2)*(cos
(2*x2)/2 + 1/2))/779122735535095808 - (1475780827700625*nl3*x1o*x4o*x6o*cos(x2))
/24347585485471744 + (321762620835625*nl3*x1o*x4o*x6o*sin(2*x2))/608689637136793
6 + (732151525121875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/121737927427
35872 - 17866974990565097439/1558245471070191616,
(5122659078
94543635*x6o*sin(2*x2))/3116490942140383232 - (42828347214128089*x1o)/3895613677
67547904 - (2614065756804305461*x4o)/1558245471070191616 - (34793089613819125*nl
3)/48695170970943488 + (144833230908875*nl3*x1o)/380431023210496 - (205126710226
05375*nl3*x4o)/97390341941886976 + (63285608393694285*x1o*x4o)/38956136776754790
4 - (212191256263488235*x6o*cos(x2))/6232981884280766464 - (171453777920596125*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (65321285887016875*nl3*x
6o*cos(x2))/779122735535095808 - (427300358642035*x1o*x6o*cos(x2))/9007199254740
992 - (72229349943197095*x4o*x6o*cos(x2))/3116490942140383232 + (497491263911206
25*nl3*x6o*sin(2*x2))/779122735535095808 + (208738333686193075*x1o*x6o*sin(2*x2)
)/3116490942140383232 + (6380459258827905*x4o*x6o*sin(2*x2))/779122735535095808
- (2572212558633125*nl3*x1o*x4o)/48695170970943488 - (38725145172269375*nl3*x1o*
x6o*sin(2*x2))/389561367767547904 - (22413831615994375*nl3*x4o*x6o*sin(2*x2))/38
9561367767547904 - (17260460242799925*x1o*x4o*x6o*sin(2*x2))/1558245471070191616
+ (5767264787653125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 +
(148210089958964575*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 +
(5035633417313425*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (
156441225996875*nl3*x1o*x6o*cos(x2))/2251799813685248 + (12559893876325625*nl3*x
4o*x6o*cos(x2))/389561367767547904 + (1063189043450525*x1o*x4o*x6o*cos(x2))/9739
0341941886976 - (12927581459328125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19
4780683883773952 - (2635417457078125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
194780683883773952 - (26119602349086725*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/1558245471070191616 - (2703311478643125*nl3*x1o*x4o*x6o*cos(x2))/194780683883
773952 + (3347386562098125*nl3*x1o*x4o*x6o*sin(2*x2))/194780683883773952 + (1041
679434121875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 9946015631836465425/3116490942140383232,
(67890
996471191915*x1o)/1558245471070191616 - (37815718041017125*nl3)/1947806838837739
52 + (567518495092613029*x4o)/1558245471070191616 + (711342095925020435*x6o*sin(
2*x2))/6232981884280766464 - (1460255349690875*nl3*x1o)/48695170970943488 - (456
8187918998125*nl3*x4o)/24347585485471744 + (16841497450492741*x1o*x4o)/779122735
535095808 - (166244169294514455*x6o*cos(x2))/6232981884280766464 + (231578955576
11025*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (2715953842403125
*nl3*x6o*cos(x2))/194780683883773952 + (29151393347594825*x1o*x6o*cos(x2))/31164
90942140383232 - (7253918230929305*x4o*x6o*cos(x2))/3116490942140383232 - (13294
115563096875*nl3*x6o*sin(2*x2))/389561367767547904 - (24486322180825985*x1o*x6o*
sin(2*x2))/3116490942140383232 + (31779221855898325*x4o*x6o*sin(2*x2))/311649094
2140383232 - (2783348227548125*nl3*x1o*x4o)/48695170970943488 + (314498318925625
*nl3*x1o*x6o*sin(2*x2))/24347585485471744 - (1311191629751875*nl3*x4o*x6o*sin(2*
x2))/48695170970943488 + (1269068838776745*x1o*x4o*x6o*sin(2*x2))/15582454710701
91616 - (580054841403125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/4869517097094348
8 - (46068277717578875*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/311649094214038323
2 + (10319926167934775*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/311649094214038323
2 - (3820351224519375*nl3*x1o*x6o*cos(x2))/194780683883773952 + (345843755541187
5*nl3*x4o*x6o*cos(x2))/194780683883773952 - (719579442060905*x1o*x4o*x6o*cos(x2)
)/1558245471070191616 + (3878763771634375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1

/2))/194780683883773952 - (658101274953125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/194780683883773952 - (7311665736595925*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/1558245471070191616 - (150057819461875*nl3*x1o*x4o*x6o*cos(x2))/48695170
970943488 + (508888243484375*nl3*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (274
537110728125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 13307751831843086109/3116490942140383232,
(709538611754537225*x6o*sin(
2*x2))/1558245471070191616 - (109166641839138907*x1o)/389561367767547904 - (1946
142192609447219*x4o)/389561367767547904 - (312539392884440625*nl3)/1947806838837
73952 + (75783136728702375*nl3*x1o)/97390341941886976 - (24677861642684375*nl3*x
4o)/97390341941886976 + (76445374876661065*x1o*x4o)/194780683883773952 - (188006
30564596475*x6o*cos(x2))/194780683883773952 - (78319196578489025*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/779122735535095808 - (63970927651484375*nl3*x6o*cos(x2))/389
561367767547904 - (33694131618874135*x1o*x6o*cos(x2))/389561367767547904 - (1316
2744703056585*x4o*x6o*cos(x2))/389561367767547904 + (35389341954031875*nl3*x6o*s
in(2*x2))/389561367767547904 + (86812838282280165*x1o*x6o*sin(2*x2))/77912273553
5095808 + (61907636857813765*x4o*x6o*sin(2*x2))/779122735535095808 - (1328847343
3457375*nl3*x1o*x4o)/48695170970943488 - (35979622666583125*nl3*x1o*x6o*sin(2*x2
))/194780683883773952 - (28608154238851875*nl3*x4o*x6o*sin(2*x2))/19478068388377
3952 - (12921350735329015*x1o*x4o*x6o*sin(2*x2))/389561367767547904 + (433537389
20890625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (8797117347
973225*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 + (3729705738753
425*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 + (2219513712660062
5*nl3*x1o*x6o*cos(x2))/194780683883773952 + (16093133086389375*nl3*x4o*x6o*cos(x
2))/194780683883773952 + (3329763838467845*x1o*x4o*x6o*cos(x2))/9739034194188697
6 - (23595226105034375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19478068388377
3952 - (7285126135890625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883
773952 - (8929331182789225*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1947806838
83773952 - (5155254273725625*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 + (49293
12912253125*nl3*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (5785355854084375*nl3
*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - 1296111796124055
2143/779122735535095808, (361786543050700635*x6o*sin(2*x2))/24931927537123065856
- (19246311957821473*x1o)/6232981884280766464 - (14282906908588098903*x4o)/6232
981884280766464 - (140088136816825875*nl3)/1558245471070191616 + (63004552494194
125*nl3*x1o)/779122735535095808 - (37177121555607125*nl3*x4o)/779122735535095808
+ (265382172892622073*x1o*x4o)/3116490942140383232 - (498792978267821525*x6o*co
s(x2))/24931927537123065856 - (372645426990150225*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/24931927537123065856 - (58922421247718125*nl3*x6o*cos(x2))/3116490942140383
232 - (131938583252869725*x1o*x6o*cos(x2))/12465963768561532928 + (1790017795279
8925*x4o*x6o*cos(x2))/12465963768561532928 + (20131703582093125*nl3*x6o*sin(2*x2
))/3116490942140383232 + (224238310586968835*x1o*x6o*sin(2*x2))/1246596376856153
2928 + (95723003964483725*x4o*x6o*sin(2*x2))/12465963768561532928 + (10848421144
644875*nl3*x1o*x4o)/389561367767547904 - (33341291313409375*nl3*x1o*x6o*sin(2*x2
))/1558245471070191616 - (26745030383368125*nl3*x4o*x6o*sin(2*x2))/1558245471070
191616 - (13853824451893355*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 + (400029
61855784375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (107020
103960800975*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (4926
146363954825*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (2304
6154171199375*nl3*x1o*x6o*cos(x2))/1558245471070191616 - (9966300652086875*nl3*x
4o*x6o*cos(x2))/1558245471070191616 - (19239334271938235*x1o*x4o*x6o*cos(x2))/62
32981884280766464 - (19799580776565625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/1558245471070191616 + (5123359165640625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/1558245471070191616 + (44090780590468825*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/6232981884280766464 + (3585470659275625*nl3*x1o*x4o*x6o*cos(x2))/779122
735535095808 - (2291894983425625*nl3*x1o*x4o*x6o*sin(2*x2))/779122735535095808 (5977761533409375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/77912273553509
5808 - 38084824909565057473/12465963768561532928,
(134685988666217375*nl3)/48695170970943488 - (30795466116427473*x1o)/973903419
41886976 - (197467920673797283*x4o)/24347585485471744 - (514520409161221305*x6o*
sin(2*x2))/389561367767547904 + (935261869754125*nl3*x1o)/24347585485471744 + (4
9981713573581625*nl3*x4o)/24347585485471744 - (13951588087574263*x1o*x4o)/486951

70970943488 + (112294189853787315*x6o*cos(x2))/389561367767547904 + (90333721582

5075*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (8864986143765625*n
l3*x6o*cos(x2))/97390341941886976 - (4672486035804345*x1o*x6o*cos(x2))/973903419
41886976 + (5730848688510295*x4o*x6o*cos(x2))/194780683883773952 + (348988193906
84375*nl3*x6o*sin(2*x2))/97390341941886976 + (834715337710095*x1o*x6o*sin(2*x2))
/24347585485471744 - (42585742222447435*x4o*x6o*sin(2*x2))/194780683883773952 +
(10083855552320375*nl3*x1o*x4o)/12173792742735872 - (3332012429554375*nl3*x1o*x6
o*sin(2*x2))/48695170970943488 + (17159943750450625*nl3*x4o*x6o*sin(2*x2))/48695
170970943488 + (978511944271105*x1o*x4o*x6o*sin(2*x2))/48695170970943488 + (7271
786022446875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 + (1961817
4007437825*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (60918358
63892025*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 + (68706983509
08125*nl3*x1o*x6o*cos(x2))/48695170970943488 - (11968936571569375*nl3*x4o*x6o*co
s(x2))/48695170970943488 - (1799541293273695*x1o*x4o*x6o*cos(x2))/48695170970943
488 - (6803533763996875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/4869517097094
3488 + (3349428738053125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/486951709709
43488 + (9213132163814325*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941
886976 + (2187723951569375*nl3*x1o*x4o*x6o*cos(x2))/24347585485471744 - (2280422
458878125*nl3*x1o*x4o*x6o*sin(2*x2))/24347585485471744 - (2813627727365625*nl3*x
1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471744 + 553299486384041688
5/97390341941886976, (43914086237438625*nl3*x1o)/3116490942140383232 - (60205287
3687904007*x1o)/99727710148492263424 - (2139040788764772915*x4o)/997277101484922
63424 - (693062460943099255*x6o*sin(2*x2))/398910840593969053696 - (380573677668
156375*nl3)/12465963768561532928 - (16458268251464875*nl3*x4o)/62329818842807664
64 + (221502971985995641*x1o*x4o)/49863855074246131712 + (214584039747937075*x6o
*cos(x2))/398910840593969053696 - (663067791765777125*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/398910840593969053696 - (10292682561973125*nl3*x6o*cos(x2))/31164909421
40383232 - (338800535644306425*x1o*x6o*cos(x2))/199455420296984526848 - (2686355
21193028885*x4o*x6o*cos(x2))/199455420296984526848 + (49447205888158125*nl3*x6o*
sin(2*x2))/24931927537123065856 + (442114626330847325*x1o*x6o*sin(2*x2))/1994554
20296984526848 - (220167704119951815*x4o*x6o*sin(2*x2))/199455420296984526848 (2578255061250625*nl3*x1o*x4o)/1558245471070191616 - (16999380130909375*nl3*x1o*
x6o*sin(2*x2))/6232981884280766464 - (3587483376279375*nl3*x4o*x6o*sin(2*x2))/12
465963768561532928 - (8547407493764955*x1o*x4o*x6o*sin(2*x2))/997277101484922634
24 + (22742980145003125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532
928 + (330893684201724775*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/199455420296984
526848 + (37738804444754075*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1994554202969
84526848 + (35104943789058125*nl3*x1o*x6o*cos(x2))/12465963768561532928 + (28135
38289878125*nl3*x4o*x6o*cos(x2))/3116490942140383232 + (47736592147524775*x1o*x4
o*x6o*cos(x2))/99727710148492263424 - (28996747245340625*nl3*x1o*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/12465963768561532928 - (2000286272403125*nl3*x4o*x6o^2*sin(x
2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (54896119893809025*x1o*x4o*x6o^2*s
in(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (3496809076244375*nl3*x1o*x4o
*x6o*cos(x2))/6232981884280766464 + (555169083149375*nl3*x1o*x4o*x6o*sin(2*x2))/
3116490942140383232 + (4118053058121875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/6232981884280766464 + 32124824439142869269/199455420296984526848, (311683
555288352875*nl3)/12465963768561532928 + (253437690311587805*x1o)/49863855074246
131712 + (368683901833328707*x4o)/49863855074246131712 + (578499977896857135*x6o
*sin(2*x2))/199455420296984526848 - (71874364345899375*nl3*x1o)/6232981884280766
464 + (11266442352951875*nl3*x4o)/6232981884280766464 - (80273308459095297*x1o*x
4o)/24931927537123065856 - (155196258287894055*x6o*cos(x2))/19945542029698452684
8 + (266371521150302975*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/199455420296984526848
+ (68548871539664375*nl3*x6o*cos(x2))/24931927537123065856 + (14057336307516216
5*x1o*x6o*cos(x2))/99727710148492263424 + (119993516113042035*x4o*x6o*cos(x2))/9
9727710148492263424 - (41735371759084375*nl3*x6o*sin(2*x2))/24931927537123065856
- (183708463422710345*x1o*x6o*sin(2*x2))/99727710148492263424 + (12887981269757
4445*x4o*x6o*sin(2*x2))/99727710148492263424 + (2683917075727625*nl3*x1o*x4o)/31
16490942140383232 + (26670566220816875*nl3*x1o*x6o*sin(2*x2))/124659637685615329
28 - (1458146117346875*nl3*x4o*x6o*sin(2*x2))/12465963768561532928 - (3056690183
44315*x1o*x4o*x6o*sin(2*x2))/49863855074246131712 - (36480792954046875*nl3*x6o^2

*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 - (135609014594823225*x1o*x6o

^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (7899471003608875*x4o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (30114800768864375*nl3*x1
o*x6o*cos(x2))/12465963768561532928 - (8093229470508125*nl3*x4o*x6o*cos(x2))/124
65963768561532928 - (18455143142414745*x1o*x4o*x6o*cos(x2))/49863855074246131712
+ (23953758096621875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/124659637685615
32928 + (2601238935728125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768
561532928 + (20235688826045925*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/498638
55074246131712 + (2484345915298125*nl3*x1o*x4o*x6o*cos(x2))/6232981884280766464
- (226011582830625*nl3*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 - (29638436085
03125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - 19897
070281946448527/99727710148492263424]
%%%%%%%%%%%%%%%
X0=[0;0.1;0;0;0.1;0;0;0;0];
F=[

(148699606472001625*nl3)/194780683883773952 - (5222
53770121842723*x1o)/3116490942140383232 - (329222856355612165*x4o)/3116490942140
383232 - (357726713107477335*x6o*sin(2*x2))/12465963768561532928 - (886338897003
75*nl3*x1o)/48695170970943488 - (5699987609928125*nl3*x4o)/194780683883773952 (12671346370163175*x1o*x4o)/1558245471070191616 + (682076660564903855*x6o*cos(x2
))/12465963768561532928 - (114332887354713575*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
/12465963768561532928 - (1112887369123125*nl3*x6o*cos(x2))/194780683883773952 +
(6580485390674165*x1o*x6o*cos(x2))/6232981884280766464 + (39276198196247575*x4o*
x6o*cos(x2))/6232981884280766464 - (2051853981309375*nl3*x6o*sin(2*x2))/38956136
7767547904 + (82742622690829835*x1o*x6o*sin(2*x2))/6232981884280766464 - (126974
755235551035*x4o*x6o*sin(2*x2))/6232981884280766464 + (3514633017093375*nl3*x1o*

x4o)/97390341941886976 - (1023863415613125*nl3*x1o*x6o*sin(2*x2))/97390341941886
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45745*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 + (1247421913528125*nl3*x6o^2*s
in(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (7161365314253875*x1o*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (13334974342599625*x4o*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (458335421260625*nl3*x1o*x6o*cos
(x2))/194780683883773952 - (1890804900509375*nl3*x4o*x6o*cos(x2))/38956136776754
7904 - (6523744162389515*x1o*x4o*x6o*cos(x2))/3116490942140383232 + (19221283865
3125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (6877542524
96875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (375776288
1550125*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (275412
462353125*nl3*x1o*x4o*x6o*cos(x2))/194780683883773952 + (803165324386875*nl3*x1o
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x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - 23690207470265997873/6232981884280
766464, (449462038530914007125*nl3)/99727710148492263424 - (29814505177766831948
5*x1o)/398910840593969053696 + (118469384750862024275*x4o)/398910840593969053696
- (372366524995569190145*x6o*sin(2*x2))/1595643362375876214784 + (3700947549975
816875*nl3*x1o)/49863855074246131712 + (6780519130919794875*nl3*x4o)/49863855074
246131712 + (10031910331003634221*x1o*x4o)/199455420296984526848 + (363151702620
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x2)*(cos(2*x2)/2 + 1/2))/1595643362375876214784 - (8900789371616494375*nl3*x6o*c
os(x2))/199455420296984526848 + (11468638896705503935*x1o*x6o*cos(x2))/797821681
187938107392 - (11385427372838267985*x4o*x6o*cos(x2))/797821681187938107392 + (1
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3745*x1o*x6o*sin(2*x2))/797821681187938107392 + (25225471628496614865*x4o*x6o*si
n(2*x2))/797821681187938107392 - (3496405450865970875*nl3*x1o*x4o)/2493192753712
3065856 + (1443463245514725625*nl3*x1o*x6o*sin(2*x2))/99727710148492263424 - (10
96162948875504375*nl3*x4o*x6o*sin(2*x2))/99727710148492263424 - (420572098964829
4225*x1o*x4o*x6o*sin(2*x2))/398910840593969053696 - (2743369139597678125*nl3*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/199455420296984526848 - (16080313307314376075*x1
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/797821681187938107392 + (702490757023104752
5*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/797821681187938107392 - (32004877706068
25625*nl3*x1o*x6o*cos(x2))/99727710148492263424 + (2717630131704924375*nl3*x4o*x
6o*cos(x2))/99727710148492263424 + (4395427695981156625*x1o*x4o*x6o*cos(x2))/398
910840593969053696 + (3443148110527878125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/99727710148492263424 - (1369217480812771875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/99727710148492263424 - (4796815683723474725*x1o*x4o*x6o^2*sin(x2)*(c
os(2*x2)/2 + 1/2))/398910840593969053696 - (807467135560084375*nl3*x1o*x4o*x6o*c
os(x2))/49863855074246131712 + (1013736254190064375*nl3*x1o*x4o*x6o*sin(2*x2))/4
9863855074246131712 + (788946611690971875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/49863855074246131712 - 3775962865140543540355/797821681187938107392,
(792039171135934125*nl3)/389561367767547904 - (438823405500039649*
x1o)/1558245471070191616 - (70990295594377723*x4o)/1558245471070191616 - (557595
628315239415*x6o*sin(2*x2))/6232981884280766464 - (10043427574016875*nl3*x1o)/19
4780683883773952 + (10001591120491125*nl3*x4o)/194780683883773952 + (15643189452
536157*x1o*x4o)/779122735535095808 + (562698606766950325*x6o*cos(x2))/6232981884
280766464 - (84893228228437725*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/62329818842807
66464 + (3334007281640625*nl3*x6o*cos(x2))/779122735535095808 - (467066786770277
5*x1o*x6o*cos(x2))/3116490942140383232 - (880158810661165*x4o*x6o*cos(x2))/31164
90942140383232 - (8503738885454375*nl3*x6o*sin(2*x2))/779122735535095808 + (7175
7164534127025*x1o*x6o*sin(2*x2))/3116490942140383232 - (41378897449744905*x4o*x6
o*sin(2*x2))/3116490942140383232 - (2670904875669375*nl3*x1o*x4o)/97390341941886
976 - (196732392584375*nl3*x1o*x6o*sin(2*x2))/389561367767547904 - (187419210596
1875*nl3*x4o*x6o*sin(2*x2))/389561367767547904 - (8462710585865985*x1o*x4o*x6o*s
in(2*x2))/1558245471070191616 - (1703163919784375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/779122735535095808 - (31944245201917025*x1o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/3116490942140383232 + (18135332480474825*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/3116490942140383232 - (4463363990429375*nl3*x1o*x6o*cos(x2))/38956136776
7547904 + (2842354995978125*nl3*x4o*x6o*cos(x2))/389561367767547904 + (435812388
6854735*x1o*x4o*x6o*cos(x2))/1558245471070191616 + (7322963658340625*nl3*x1o*x6o

^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (2891320615334375*nl3*x4o*x

6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (10153316346168875*x1o*x4
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (1148647290519375*nl3
*x1o*x4o*x6o*cos(x2))/194780683883773952 + (2351104161055625*nl3*x1o*x4o*x6o*sin
(2*x2))/194780683883773952 + (1715480221128125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/194780683883773952 - 25067823851502139809/3116490942140383232, (65
0998505931056375*nl3)/779122735535095808 + (901846419893502463*x1o)/623298188428
0766464 - (3229398396862019971*x4o)/6232981884280766464 + (43097022901159465*x6o
*sin(2*x2))/1558245471070191616 - (51459712145487875*nl3*x1o)/389561367767547904
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/3116490942140383232 - (678171064765411255*x6o*cos(x2))/24931927537123065856 - (
56497638643472175*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (1799
4697226771875*nl3*x6o*cos(x2))/1558245471070191616 - (93476279592783555*x1o*x6o*
cos(x2))/12465963768561532928 - (24156426188647505*x4o*x6o*cos(x2))/124659637685
61532928 - (5556989770484375*nl3*x6o*sin(2*x2))/389561367767547904 + (5651984685
9493625*x1o*x6o*sin(2*x2))/6232981884280766464 - (95679460575668455*x4o*x6o*sin(
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*x2))/3116490942140383232 + (27240972698021875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/1558245471070191616 + (82991596493645325*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/6232981884280766464 - (13201343074515075*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
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95808 - (5695568962409375*nl3*x4o*x6o*cos(x2))/194780683883773952 - (92587754926
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^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (5053184005771875*nl3*x4o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (44905398832454475*x1o*x4
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (364026766910625*nl3*
x1o*x4o*x6o*cos(x2))/12173792742735872 - (6672110938749375*nl3*x1o*x4o*x6o*sin(2
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861279544821*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*
x2))/4 - 1/2)*(x1o - 1/2)*(x4o + 1/2))/1125899906842624 - (6556530847029553*((5*
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o - 1/2)*(x4o - 1/2))/1125899906842624 + (3564283776935821*((5*x6o*cos(x2))/4 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o - 1
/2))/562949953421312 - (6881794976959053*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/1
73 - 827/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o + 1/2))/1125899906842
624 + (1655188872239451*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 827/173)*((5
*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2)*(x4o - 1/2))/281474976710656 - (15969032457
56747*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4
+ 1/2)*(x1o - 1/2)*(x4o + 1/2))/281474976710656 - (1792929002942575*((5*x6o*cos(
x2))/4 - 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o + 1/2)
*(x4o - 1/2))/281474976710656 + (1725911992882219*((5*x6o*cos(x2))/4 - 1/2)*((10
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173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o - 1/2))/1125899906842624 - (62
27469277596295*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(
2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o + 1/2))/1125899906842624 - (7029875021785993*((
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x1o + 1/2)*(x4o - 1/2))/1125899906842624 + (6789829287146275*((5*x6o*cos(x2))/4
+ 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o +
1/2))/1125899906842624 + (6289309333365189*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3
)/173 - 827/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2)*(x4o + 1/2))/1125899906
842624 + (7076480303214037*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 827/173)*
((5*x6o*sin(2*x2))/4 + 1/2)*(x1o + 1/2)*(x4o - 1/2))/1125899906842624 - (1704201
897171845*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2)
)/4 + 1/2)*(x1o + 1/2)*(x4o + 1/2))/281474976710656 + (7275648187812275*((5*x6o*
cos(x2))/4 - 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o 1/2)*(x4o - 1/2))/1125899906842624 - (7079607916323437*((5*x6o*cos(x2))/4 - 1/2

)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o + 1/2

))/1125899906842624 - (3896643301912255*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/17
3 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o - 1/2))/5629499534213
12 + (944644461845997*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 1000/173)*((5*
x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o + 1/2))/140737488355328 - (366747105665
2989*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4
+ 1/2)*(x1o - 1/2)*(x4o - 1/2))/562949953421312 + (3564422541993401*((5*x6o*cos(
x2))/4 - 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2
)*(x4o + 1/2))/562949953421312 + (122343047986467*((5*x6o*cos(x2))/4 - 1/2)*((10
00*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o + 1/2)*(x4o - 1/2))/175
92186044416 - (3786975047760657*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 1000
/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o + 1/2)*(x4o + 1/2))/562949953421312 - (35
83218246692507*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin
(2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o - 1/2))/562949953421312 + (3491030278097323*((
5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*
(x1o - 1/2)*(x4o + 1/2))/562949953421312 + (1924685172470511*((5*x6o*cos(x2))/4
+ 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o
- 1/2))/281474976710656 - (7471493285951787*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3
)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o + 1/2))/112589990
6842624 + (7231477957993461*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173
)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2)*(x4o - 1/2))/1125899906842624 - (70384
14481584649*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*
x2))/4 + 1/2)*(x1o - 1/2)*(x4o + 1/2))/1125899906842624 - (3869898239932747*((5*
x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x
1o + 1/2)*(x4o - 1/2))/562949953421312 + (7494049604912979*((5*x6o*cos(x2))/4 +
1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o + 1/2)*(x4o +
1/2))/1125899906842624 - (66263*pi*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 8
27/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2)*(x4o - 1/2))/36001,
(20501459
79378817875*nl3)/3116490942140383232 - (682577653645141573*x1o)/6232981884280766
464 + (4394037689079821825*x4o)/6232981884280766464 - (1357276248482171165*x6o*s
in(2*x2))/12465963768561532928 - (2423994220312375*nl3*x1o)/1558245471070191616
+ (345355085783267375*nl3*x4o)/1558245471070191616 - (242184954600754743*x1o*x4o
)/3116490942140383232 + (871226299968545465*x6o*cos(x2))/24931927537123065856 +
(6676813524601875*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (289
16070137824375*nl3*x6o*cos(x2))/6232981884280766464 + (1991773169624165*x1o*x6o*
cos(x2))/12465963768561532928 - (9302380040756145*x4o*x6o*cos(x2))/1246596376856
1532928 + (52236396578529375*nl3*x6o*sin(2*x2))/6232981884280766464 - (722222313
8710375*x1o*x6o*sin(2*x2))/3116490942140383232 + (111661283670611925*x4o*x6o*sin
(2*x2))/3116490942140383232 - (146047257323113875*nl3*x1o*x4o)/77912273553509580
8 + (953303811448125*nl3*x1o*x6o*sin(2*x2))/3116490942140383232 - (2472957193981
8125*nl3*x4o*x6o*sin(2*x2))/3116490942140383232 - (20133417360329905*x1o*x4o*x6o
*sin(2*x2))/3116490942140383232 + (13992266228578125*nl3*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/6232981884280766464 - (167064331660675*x1o*x6o^2*sin(x2)*(cos(2*x2)/
2 + 1/2))/389561367767547904 + (5731632471849175*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/779122735535095808 - (3258973620663125*nl3*x1o*x6o*cos(x2))/311649094214
0383232 + (108675219171533125*nl3*x4o*x6o*cos(x2))/3116490942140383232 + (932776
75176590895*x1o*x4o*x6o*cos(x2))/6232981884280766464 + (5535243749384375*nl3*x1o
*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (48140263569309375*nl3
*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (48797881348412425
*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (4554832243342
0625*nl3*x1o*x4o*x6o*cos(x2))/1558245471070191616 + (33553106433695625*nl3*x1o*x
4o*x6o*sin(2*x2))/1558245471070191616 + (33860359814771875*nl3*x1o*x4o*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - 25062608575482931633/12465963768
561532928, (1795970584359152559*x4o)/389561367767547904 - (658537934944437119*x1
o)/389561367767547904 - (1849385834445994625*nl3)/194780683883773952 - (21623838
0983826085*x6o*sin(2*x2))/779122735535095808 + (158729268221221375*nl3*x1o)/9739
0341941886976 + (157427843716176625*nl3*x4o)/97390341941886976 - (21400119630620
2457*x1o*x4o)/194780683883773952 + (104736905600889245*x6o*cos(x2))/389561367767
547904 + (122187250075538275*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191
616 - (72838487998738125*nl3*x6o*cos(x2))/389561367767547904 + (2489824428290659

5*x1o*x6o*cos(x2))/389561367767547904 + (9569535718153485*x4o*x6o*cos(x2))/97390
341941886976 + (82066451926415625*nl3*x6o*sin(2*x2))/389561367767547904 - (30032
381434188315*x1o*x6o*sin(2*x2))/389561367767547904 + (63453424760378845*x4o*x6o*
sin(2*x2))/389561367767547904 - (62657712240874375*nl3*x1o*x4o)/4869517097094348
8 + (19989539425913125*nl3*x1o*x6o*sin(2*x2))/194780683883773952 - (298601388255
25625*nl3*x4o*x6o*sin(2*x2))/194780683883773952 - (21983238994169275*x1o*x4o*x6o
*sin(2*x2))/194780683883773952 - (58078393156471875*nl3*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/389561367767547904 - (81921766339783175*x1o*x6o^2*sin(x2)*(cos(2*x2)/
2 + 1/2))/779122735535095808 + (75098530116763525*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/779122735535095808 - (12108817952213125*nl3*x1o*x6o*cos(x2))/1947806838
83773952 + (57322833532163125*nl3*x4o*x6o*cos(x2))/194780683883773952 + (3116118
1443801725*x1o*x4o*x6o*cos(x2))/194780683883773952 + (29285277483465625*nl3*x1o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (28390300966753125*nl3*x
4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (60525878794448725*x1
o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (31043357585766875
*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 + (19411718831361875*nl3*x1o*x4o*x6o
*sin(2*x2))/97390341941886976 + (21091748823584375*nl3*x1o*x4o*x6o^2*sin(x2)*(co
s(2*x2)/2 + 1/2))/97390341941886976 + 18183022567170252509/779122735535095808,
(21792127698861375*nl3)/779122735535095808 - (665426288269515941*x1o)
/49863855074246131712 - (493241182470448231*x4o)/49863855074246131712 - (9416768
75857305045*x6o*sin(2*x2))/199455420296984526848 + (3856531359981125*nl3*x1o)/15
58245471070191616 + (12885362448985625*nl3*x4o)/3116490942140383232 - (396025587
5152351*x1o*x4o)/24931927537123065856 + (567941889758879395*x6o*cos(x2))/1994554
20296984526848 - (24572253279482225*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/199455420
296984526848 + (2124286127471875*nl3*x6o*cos(x2))/6232981884280766464 - (1888449
4911590205*x1o*x6o*cos(x2))/99727710148492263424 + (38492764886729045*x4o*x6o*co
s(x2))/99727710148492263424 - (4646404103003125*nl3*x6o*sin(2*x2))/3116490942140
383232 + (50112427991559635*x1o*x6o*sin(2*x2))/99727710148492263424 - (151696924
752003755*x4o*x6o*sin(2*x2))/99727710148492263424 - (1279189727668625*nl3*x1o*x4
o)/1558245471070191616 + (132374815034375*nl3*x1o*x6o*sin(2*x2))/194780683883773
952 - (647936389954375*nl3*x4o*x6o*sin(2*x2))/6232981884280766464 - (22441885138
557375*x1o*x4o*x6o*sin(2*x2))/49863855074246131712 - (2770105059778125*nl3*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (101581424557696925*x1o*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 + (43093955691680225*x4o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (344302954073125*nl3*x1o*
x6o*cos(x2))/389561367767547904 + (2871398244170625*nl3*x4o*x6o*cos(x2))/6232981
884280766464 + (16279673329732225*x1o*x4o*x6o*cos(x2))/49863855074246131712 + (2
604354945128125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 (2396252234190625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/623298188428076646
4 - (19602900474437575*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855074246
131712 - (1902813360820625*nl3*x1o*x4o*x6o*cos(x2))/3116490942140383232 + (16320
80793333125*nl3*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 + (1680004074284375*n
l3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - 227705033459
30208721/99727710148492263424, (284143829499239625*nl3)/24931927537123065856 + (
483233884722379141*x1o)/49863855074246131712 + (119811386004409297*x4o)/12465963
768561532928 + (767891127396121015*x6o*sin(2*x2))/199455420296984526848 - (66521
270966101875*nl3*x1o)/12465963768561532928 - (28727318526248125*nl3*x4o)/1246596
3768561532928 + (7155565754673429*x1o*x4o)/6232981884280766464 - (34979607383384
4275*x6o*cos(x2))/199455420296984526848 - (25387062125484975*x6o^2*sin(x2)*(cos(
2*x2)/2 + 1/2))/199455420296984526848 + (6716035470930625*nl3*x6o*cos(x2))/49863
855074246131712 + (9389078340363295*x1o*x6o*cos(x2))/99727710148492263424 - (654
7003018800775*x4o*x6o*cos(x2))/12465963768561532928 + (45491036899581875*nl3*x6o
*sin(2*x2))/49863855074246131712 - (9240727322523685*x1o*x6o*sin(2*x2))/99727710
148492263424 + (71194399165050095*x4o*x6o*sin(2*x2))/49863855074246131712 - (118
4694460532625*nl3*x1o*x4o)/6232981884280766464 - (14508028177155625*nl3*x1o*x6o*
sin(2*x2))/24931927537123065856 + (2141448387363125*nl3*x4o*x6o*sin(2*x2))/24931
927537123065856 + (9049664802734415*x1o*x4o*x6o*sin(2*x2))/24931927537123065856
+ (40967460756859375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855074246131712
+ (82028419890259675*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/9972771014849226342
4 - (8358889660070625*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2493192753712306585

6 + (15845414408113125*nl3*x1o*x6o*cos(x2))/24931927537123065856 - (655445275930
0625*nl3*x4o*x6o*cos(x2))/24931927537123065856 - (6818358779761055*x1o*x4o*x6o*c
os(x2))/24931927537123065856 - (32829304069203125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x
2)/2 + 1/2))/24931927537123065856 + (6060603924053125*nl3*x4o*x6o^2*sin(x2)*(cos
(2*x2)/2 + 1/2))/24931927537123065856 + (7035612114623075*x1o*x4o*x6o^2*sin(x2)*
(cos(2*x2)/2 + 1/2))/24931927537123065856 + (6769417534576875*nl3*x1o*x4o*x6o*co
s(x2))/12465963768561532928 - (3552835291509375*nl3*x1o*x4o*x6o*sin(2*x2))/12465
963768561532928 - (4904363460084375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/12465963768561532928 + 9876915609109623209/99727710148492263424;
(2601024536165399*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*
sin(2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o - 1/2))/4503599627370496 - (511716353469094
3*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 - 1/
2)*(x1o - 1/2)*(x4o + 1/2))/9007199254740992 - (4895244406677287*((5*x6o*cos(x2)
)/4 - 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x
4o - 1/2))/9007199254740992 + (2359668580804913*((5*x6o*cos(x2))/4 - 1/2)*((1000
*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o + 1/2))/450359
9627370496 - (1305608221929405*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 827/1
73)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2)*(x4o - 1/2))/2251799813685248 + (128
9970271130179*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2
*x2))/4 + 1/2)*(x1o - 1/2)*(x4o + 1/2))/2251799813685248 + (4942605693388267*((5
*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x
1o + 1/2)*(x4o - 1/2))/9007199254740992 - (4822893986712089*((5*x6o*cos(x2))/4 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o + 1/2)*(x4o +
1/2))/9007199254740992 - (20744480902979*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/1
73 - 827/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o - 1/2))/3518437208883
2 + (5263180672857995*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 827/173)*((5*x
6o*sin(2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o + 1/2))/9007199254740992 + (503294638906
9667*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 1/2)*(x1o + 1/2)*(x4o - 1/2))/9007199254740992 - (1218609488357719*((5*x6o*cos(
x2))/4 + 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)
*(x4o + 1/2))/2251799813685248 + (5315215003970219*((5*x6o*cos(x2))/4 + 1/2)*((1
000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2)*(x4o - 1/2))/900
7199254740992 - (2640744305062363*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 82
7/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2)*(x4o + 1/2))/4503599627370496 - (
632900685472703*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin
(2*x2))/4 + 1/2)*(x1o + 1/2)*(x4o - 1/2))/1125899906842624 + (4955884994253955*(
(5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 827/173)*((5*x6o*sin(2*x2))/4 + 1/2)*
(x1o + 1/2)*(x4o + 1/2))/9007199254740992 + (1321556580659255*((5*x6o*cos(x2))/4
- 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o
+ 1/2))/2251799813685248 + (4998439993303841*((5*x6o*cos(x2))/4 - 1/2)*((1000*n
l3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o - 1/2))/9007199
254740992 - (615842443059851*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 1000/17
3)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o + 1/2))/1125899906842624 + (5341
485363903783*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2
*x2))/4 + 1/2)*(x1o - 1/2)*(x4o - 1/2))/9007199254740992 - (5348146840740525*((5
*x6o*cos(x2))/4 - 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(
x1o - 1/2)*(x4o + 1/2))/9007199254740992 - (2521559129841391*((5*x6o*cos(x2))/4
- 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o + 1/2)*(x4o
- 1/2))/4503599627370496 + (630272124448543*((5*x6o*cos(x2))/4 - 1/2)*((1000*nl3
)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o + 1/2)*(x4o + 1/2))/112589990
6842624 + (2715798133753967*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173
)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o - 1/2))/4503599627370496 - (27046
71975690071*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*
x2))/4 - 1/2)*(x1o - 1/2)*(x4o + 1/2))/4503599627370496 - (5136305393157307*((5*
x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x
1o + 1/2)*(x4o - 1/2))/9007199254740992 + (2532060131637523*((5*x6o*cos(x2))/4 +
1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o + 1/2)*(x4o +
1/2))/4503599627370496 - (5441572556183077*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3
)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2)*(x4o - 1/2))/900719925
4740992 + (1363445750955145*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173

)*((5*x6o*sin(2*x2))/4 + 1/2)*(x1o - 1/2)*(x4o + 1/2))/2251799813685248 + (51661

39929727221*((5*x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*
x2))/4 + 1/2)*(x1o + 1/2)*(x4o - 1/2))/9007199254740992 - (1290042938378233*((5*
x6o*cos(x2))/4 + 1/2)*((1000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 + 1/2)*(x
1o + 1/2)*(x4o + 1/2))/2251799813685248 - (8749*pi*((5*x6o*cos(x2))/4 - 1/2)*((1
000*nl3)/173 - 1000/173)*((5*x6o*sin(2*x2))/4 - 1/2)*(x1o - 1/2)*(x4o - 1/2))/46
535,
(8131610313
16940875*nl3)/779122735535095808 - (409883982260744823*x1o)/3116490942140383232
- (5779053639093637517*x4o)/3116490942140383232 - (40481174693730075*x6o*sin(2*x
2))/12465963768561532928 + (54998801943436375*nl3*x1o)/389561367767547904 + (113
899047224257125*nl3*x4o)/389561367767547904 + (66383127893942963*x1o*x4o)/155824
5471070191616 - (544308989373743825*x6o*cos(x2))/12465963768561532928 - (1726764
03738929225*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (388095490
41273125*nl3*x6o*cos(x2))/1558245471070191616 - (84471075911120125*x1o*x6o*cos(x
2))/6232981884280766464 - (54332228206235395*x4o*x6o*cos(x2))/623298188428076646
4 + (56453334368876875*nl3*x6o*sin(2*x2))/1558245471070191616 + (107364669515182
765*x1o*x6o*sin(2*x2))/6232981884280766464 - (275183738713477465*x4o*x6o*sin(2*x
2))/6232981884280766464 - (5301206573072375*nl3*x1o*x4o)/194780683883773952 - (2
8314491971320625*nl3*x1o*x6o*sin(2*x2))/779122735535095808 - (360740668671875*nl
3*x4o*x6o*sin(2*x2))/779122735535095808 + (25385885908468535*x1o*x4o*x6o*sin(2*x
2))/3116490942140383232 + (19401526110096875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/1558245471070191616 + (54754155244145075*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/6232981884280766464 - (29516533043676275*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/6232981884280766464 + (25795299695714375*nl3*x1o*x6o*cos(x2))/77912273553509
5808 + (10674919501233125*nl3*x4o*x6o*cos(x2))/779122735535095808 - (48334316756
00495*x1o*x4o*x6o*cos(x2))/3116490942140383232 - (11994551650690625*nl3*x1o*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (5484511925178125*nl3*x4o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (14647879051806425*x1o*x4o
*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (803833542994375*nl3*x
1o*x4o*x6o*cos(x2))/389561367767547904 - (2998068453534375*nl3*x1o*x4o*x6o*sin(2
*x2))/389561367767547904 - (2345887721984375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/389561367767547904 - 33706232614869111759/6232981884280766464, (8444
17825990514835*x6o*sin(2*x2))/24931927537123065856 - (499320736547636219*x1o)/62
32981884280766464 - (3052969515634426935*x4o)/6232981884280766464 - (34605834304
0125*nl3)/6086896371367936 + (57899269345687375*nl3*x1o)/389561367767547904 - (2
6015727505699875*nl3*x4o)/194780683883773952 + (198993103564455237*x1o*x4o)/3116
490942140383232 - (265631361763148145*x6o*cos(x2))/24931927537123065856 - (25481
6629147689575*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 - (1787708
7252501875*nl3*x6o*cos(x2))/779122735535095808 - (140349411686440865*x1o*x6o*cos
(x2))/12465963768561532928 - (225283361985883825*x4o*x6o*cos(x2))/12465963768561
532928 + (3514027739671875*nl3*x6o*sin(2*x2))/1558245471070191616 + (20940979523
2392695*x1o*x6o*sin(2*x2))/12465963768561532928 + (34083355193564695*x4o*x6o*sin
(2*x2))/12465963768561532928 - (6841790955406375*nl3*x1o*x4o)/194780683883773952
- (3939975961511875*nl3*x1o*x6o*sin(2*x2))/194780683883773952 - (20257509704296
875*nl3*x4o*x6o*sin(2*x2))/779122735535095808 + (44004615234481495*x1o*x4o*x6o*s
in(2*x2))/6232981884280766464 + (3512563280690625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/1558245471070191616 + (48695885236830325*x1o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/12465963768561532928 - (33837308055482175*x4o*x6o^2*sin(x2)*(cos(2*x2)/
2 + 1/2))/12465963768561532928 + (20385501152660625*nl3*x1o*x6o*cos(x2))/7791227
35535095808 + (120777685106875*nl3*x4o*x6o*cos(x2))/6086896371367936 + (22963886
15927355*x1o*x4o*x6o*cos(x2))/6232981884280766464 - (3379951043240625*nl3*x1o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (1001081123059375*nl3*x4o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (5519842845167825*x1o*x4
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (1505471800325625*nl3
*x1o*x4o*x6o*cos(x2))/389561367767547904 - (308483912390625*nl3*x1o*x4o*x6o*sin(
2*x2))/194780683883773952 - (73515356309375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/97390341941886976 - 17229457380313739651/12465963768561532928,
(3983523896618031991*x4o)/3116490942140383232 - (28569896691648529*x1o
)/3116490942140383232 - (3828547659515875*nl3)/48695170970943488 + (495617482963

113935*x6o*sin(2*x2))/12465963768561532928 - (638837873699125*nl3*x1o)/486951709
70943488 - (14118950973587625*nl3*x4o)/97390341941886976 + (18231630855303471*x1
o*x4o)/1558245471070191616 - (3588588120840215*x6o*cos(x2))/12465963768561532928
+ (38728092291418125*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 +
(3084774526228125*nl3*x6o*cos(x2))/779122735535095808 + (19152898930156385*x1o*x
6o*cos(x2))/6232981884280766464 - (47270649923861295*x4o*x6o*cos(x2))/6232981884
280766464 - (3043857268006875*nl3*x6o*sin(2*x2))/194780683883773952 - (292554394
31240345*x1o*x6o*sin(2*x2))/6232981884280766464 + (155201135063546575*x4o*x6o*si
n(2*x2))/6232981884280766464 - (2767915647367875*nl3*x1o*x4o)/48695170970943488
+ (1409236089609375*nl3*x1o*x6o*sin(2*x2))/194780683883773952 - (364897921013062
5*nl3*x4o*x6o*sin(2*x2))/194780683883773952 - (1728633274496385*x1o*x4o*x6o*sin(
2*x2))/3116490942140383232 - (5236988466553125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/779122735535095808 - (39025372662649075*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/6232981884280766464 + (23549894343804925*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/6232981884280766464 - (3266965101084375*nl3*x1o*x6o*cos(x2))/38956136776754
7904 + (7792669254599375*nl3*x4o*x6o*cos(x2))/389561367767547904 + (276539366041
29265*x1o*x4o*x6o*cos(x2))/3116490942140383232 + (3481968878540625*nl3*x1o*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (1671664100584375*nl3*x4o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (23952141611894475*x1o*x4o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (3108290538433125*nl3*x
1o*x4o*x6o*cos(x2))/194780683883773952 + (59153715009375*nl3*x1o*x4o*x6o*sin(2*x
2))/12173792742735872 + (1848632634559375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/194780683883773952 - 21536708624284187009/6232981884280766464,

(201876021759429
725*x6o*sin(2*x2))/1558245471070191616 - (15393221643354303*x1o)/973903419418869
76 - (132290064997588959*x4o)/194780683883773952 - (14536688223168625*nl3)/97390
341941886976 + (8046905557397875*nl3*x1o)/48695170970943488 - (4699814618519375*
nl3*x4o)/12173792742735872 + (19604711901092075*x1o*x4o)/194780683883773952 - (3

384316282825945*x6o*cos(x2))/194780683883773952 - (7052356375874875*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (1253611190381875*nl3*x6o*cos(x2))/4
8695170970943488 - (5664199399452205*x1o*x6o*cos(x2))/779122735535095808 - (1570
2642639553455*x4o*x6o*cos(x2))/779122735535095808 - (3309436048866875*nl3*x6o*si
n(2*x2))/194780683883773952 + (1438914967353775*x1o*x6o*sin(2*x2))/9739034194188
6976 + (29185848896095835*x4o*x6o*sin(2*x2))/389561367767547904 - (6771678470066
25*nl3*x1o*x4o)/12173792742735872 - (2628806054414375*nl3*x1o*x6o*sin(2*x2))/973
90341941886976 - (1446065764274375*nl3*x4o*x6o*sin(2*x2))/24347585485471744 + (2
783854414225985*x1o*x4o*x6o*sin(2*x2))/389561367767547904 + (2924478965625*nl3*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471744 - (956960382118025*x1o*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (18332231802375*x4o*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (769675325721875*nl3*x1o*x6o*cos(
x2))/48695170970943488 + (2674547179110625*nl3*x4o*x6o*cos(x2))/9739034194188697
6 + (521917949895*x1o*x4o*x6o*cos(x2))/380431023210496 - (72622035090625*nl3*x1o
*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (337084288109375*nl3*x4o
*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - (58533964582025*x1o*x4o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (526142657529375*nl3*x1o
*x4o*x6o*cos(x2))/48695170970943488 - (132900385894375*nl3*x1o*x4o*x6o*sin(2*x2)
)/24347585485471744 + (32294973459375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/48695170970943488 - 8233261065486030185/779122735535095808, (34059968993309
2625*nl3)/3116490942140383232 + (1597063015932287*x1o)/6232981884280766464 - (15
398179368840258295*x4o)/6232981884280766464 - (607515697606107365*x6o*sin(2*x2))
/24931927537123065856 + (5302415452667375*nl3*x1o)/1558245471070191616 - (365031
98951343625*nl3*x4o)/1558245471070191616 + (96775262637203273*x1o*x4o)/311649094
2140383232 - (162054011135893725*x6o*cos(x2))/24931927537123065856 - (8685512248
2059325*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 - (1346066115903
9375*nl3*x6o*cos(x2))/6232981884280766464 + (13925372237746485*x1o*x6o*cos(x2))/
12465963768561532928 + (50139862444903925*x4o*x6o*cos(x2))/12465963768561532928
+ (28322970632084375*nl3*x6o*sin(2*x2))/6232981884280766464 + (86275063632528875
*x1o*x6o*sin(2*x2))/12465963768561532928 + (5389038058716685*x4o*x6o*sin(2*x2))/
12465963768561532928 + (51200609983793625*nl3*x1o*x4o)/779122735535095808 - (136
86479727881875*nl3*x1o*x6o*sin(2*x2))/3116490942140383232 - (11697168982769375*n
l3*x4o*x6o*sin(2*x2))/3116490942140383232 + (5389612998071805*x1o*x4o*x6o*sin(2*
x2))/6232981884280766464 + (7670212513209375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/6232981884280766464 + (3511269381974525*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/12465963768561532928 - (35512776686428475*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/12465963768561532928 + (5099947073326875*nl3*x1o*x6o*cos(x2))/31164909421403
83232 - (50750146396155625*nl3*x4o*x6o*cos(x2))/3116490942140383232 - (685455162
04938925*x1o*x4o*x6o*cos(x2))/6232981884280766464 - (5262310802059375*nl3*x1o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (18995901620265625*nl3*x4
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (54574229794738475*x1
o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (2477818276559812
5*nl3*x1o*x4o*x6o*cos(x2))/1558245471070191616 - (13799635860943125*nl3*x1o*x4o*
x6o*sin(2*x2))/1558245471070191616 - (16459186168165625*nl3*x1o*x4o*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - 23945798300413445681/12465963768561
532928,
(52797748051823875*nl
3)/48695170970943488 + (17572876701754839*x1o)/97390341941886976 - (170744548445
7952297*x4o)/97390341941886976 - (92951804009053715*x6o*sin(2*x2))/1947806838837
73952 - (190150751867125*nl3*x1o)/24347585485471744 + (44315551409175375*nl3*x4o
)/24347585485471744 - (2722579662830971*x1o*x4o)/24347585485471744 + (4657536258
47145*x6o*cos(x2))/48695170970943488 - (1108147899920875*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/48695170970943488 - (2044907575179375*nl3*x6o*cos(x2))/9739034194188
6976 - (3866099222978925*x1o*x6o*cos(x2))/194780683883773952 + (1528399603717126
5*x4o*x6o*cos(x2))/194780683883773952 + (17513483590779375*nl3*x6o*sin(2*x2))/97
390341941886976 + (7003195775388965*x1o*x6o*sin(2*x2))/194780683883773952 - (662
84691405659185*x4o*x6o*sin(2*x2))/194780683883773952 + (8332546391877375*nl3*x1o
*x4o)/12173792742735872 - (2837740757715625*nl3*x1o*x6o*sin(2*x2))/4869517097094
3488 + (11372964675494375*nl3*x4o*x6o*sin(2*x2))/48695170970943488 + (5750987802
15175*x1o*x4o*x6o*sin(2*x2))/48695170970943488 + (6074219441740625*nl3*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 + (11377718010483975*x1o*x6o^2*sin(x

2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (8495006554460325*x4o*x6o^2*sin(x2)

*(cos(2*x2)/2 + 1/2))/194780683883773952 + (3249165311513125*nl3*x1o*x6o*cos(x2)
)/48695170970943488 - (11279064453216875*nl3*x4o*x6o*cos(x2))/48695170970943488
- (2391621285870015*x1o*x4o*x6o*cos(x2))/24347585485471744 - (4063372084446875*n
l3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (2470130000015625*
nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (4238721064030175
*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (437998267332062
5*nl3*x1o*x4o*x6o*cos(x2))/24347585485471744 - (1492099179805625*nl3*x1o*x4o*x6o
*sin(2*x2))/24347585485471744 - (2632722885196875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos
(2*x2)/2 + 1/2))/24347585485471744 + 2364370185487850539/48695170970943488, (534
25939567876125*nl3*x1o)/6232981884280766464 - (212208405699645205*x1o)/498638550
74246131712 - (575313908284324353*x4o)/49863855074246131712 - (15816972966426113
5*x6o*sin(2*x2))/199455420296984526848 - (222674609193474375*nl3)/12465963768561
532928 - (19437488556335125*nl3*x4o)/6232981884280766464 + (78078811360382193*x1
o*x4o)/24931927537123065856 - (61442959429766085*x6o*cos(x2))/199455420296984526
848 - (93400060172927825*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19945542029698452684
8 - (29443095239321875*nl3*x6o*cos(x2))/24931927537123065856 - (6393838053863257
5*x1o*x6o*cos(x2))/99727710148492263424 - (121736625519505335*x4o*x6o*cos(x2))/9
9727710148492263424 - (8340402171835625*nl3*x6o*sin(2*x2))/24931927537123065856
+ (77387277221897055*x1o*x6o*sin(2*x2))/99727710148492263424 - (8398787284607142
5*x4o*x6o*sin(2*x2))/99727710148492263424 - (8066149203171625*nl3*x1o*x4o)/31164
90942140383232 - (5756162446870625*nl3*x1o*x6o*sin(2*x2))/12465963768561532928 (6620564236804375*nl3*x4o*x6o*sin(2*x2))/12465963768561532928 + (27808639883251
505*x1o*x4o*x6o*sin(2*x2))/49863855074246131712 + (972917616021875*nl3*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 + (19821024868701525*x1o*x6o^2*si
n(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (28738807340218375*x4o*x6o^2*s
in(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 + (18823466679808125*nl3*x1o*x6
o*cos(x2))/12465963768561532928 + (10729618949444375*nl3*x4o*x6o*cos(x2))/124659
63768561532928 - (265191146227885*x1o*x4o*x6o*cos(x2))/49863855074246131712 - (5
421118780690625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928
+ (696716665253125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/124659637685615329
28 + (3313846683989875*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855074246
131712 - (806148905190625*nl3*x1o*x4o*x6o*cos(x2))/6232981884280766464 - (856983
108929375*nl3*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 - (486375778809375*nl3*
x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + 161908731501482
93021/99727710148492263424,
(203986
92555391875*nl3)/1558245471070191616 + (24800811709544425*x1o)/12465963768561532
928 + (50364016414897191*x4o)/24931927537123065856 + (99501272616511305*x6o*sin(
2*x2))/49863855074246131712 - (17391954191393625*nl3*x1o)/3116490942140383232 (2037499575105375*nl3*x4o)/1558245471070191616 - (9893966157805017*x1o*x4o)/6232
981884280766464 + (4146448171538075*x6o*cos(x2))/49863855074246131712 + (3044866
3775056875*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 + (9285318260
549375*nl3*x6o*cos(x2))/12465963768561532928 + (23437272135814065*x1o*x6o*cos(x2
))/49863855074246131712 + (20162594169703075*x4o*x6o*cos(x2))/249319275371230658
56 + (586584881384375*nl3*x6o*sin(2*x2))/6232981884280766464 - (2531275689009848
5*x1o*x6o*sin(2*x2))/49863855074246131712 + (4713067338314215*x4o*x6o*sin(2*x2))
/3116490942140383232 + (2538259893362125*nl3*x1o*x4o)/1558245471070191616 + (772
569890314375*nl3*x1o*x6o*sin(2*x2))/6232981884280766464 - (240353568628125*nl3*x
4o*x6o*sin(2*x2))/1558245471070191616 - (9762098562075905*x1o*x4o*x6o*sin(2*x2))
/24931927537123065856 - (447230238984375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
12465963768561532928 - (4590122260507975*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
24931927537123065856 + (11849073529281675*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
/49863855074246131712 - (3477842305698125*nl3*x1o*x6o*cos(x2))/31164909421403832
32 - (2833144992096875*nl3*x4o*x6o*cos(x2))/6232981884280766464 + (3018575372135
15*x1o*x4o*x6o*cos(x2))/24931927537123065856 + (1112590162634375*nl3*x1o*x6o^2*s
in(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (54551574190625*nl3*x4o*x6o^2*
sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (43426411753775*x1o*x4o*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (3026926646875*nl3*x1o*x4o*x6
o*cos(x2))/389561367767547904 + (173497287380625*nl3*x1o*x4o*x6o*sin(2*x2))/3116
490942140383232 + (52993077503125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))

/779122735535095808 - 11900656573290247075/49863855074246131712];
%%%%%%%%%%%%%%%%%
No epsilon
[
(262200819895943375*nl3)/389561367767547
904 - (129224520442579831*x1o)/779122735535095808 - (221219196068675053*x4o)/155
8245471070191616 - (25327655134128045*x6o*sin(2*x2))/779122735535095808 + (11568
69799668625*nl3*x1o)/194780683883773952 - (3469761707904625*nl3*x4o)/19478068388
3773952 - (2997822524665585*x1o*x4o)/779122735535095808 + (329645343678513785*x6
o*cos(x2))/6232981884280766464 - (52914324422670425*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/6232981884280766464 - (4604396221588125*nl3*x6o*cos(x2))/7791227355350958
08 + (3771704336478385*x1o*x6o*cos(x2))/3116490942140383232 + (8637816513237025*
x4o*x6o*cos(x2))/1558245471070191616 - (718960119581875*nl3*x6o*sin(2*x2))/19478
0683883773952 + (2520491127709605*x1o*x6o*sin(2*x2))/194780683883773952 - (67748
802619534505*x4o*x6o*sin(2*x2))/3116490942140383232 + (2938707367327375*nl3*x1o*
x4o)/97390341941886976 - (1765116347031875*nl3*x1o*x6o*sin(2*x2))/19478068388377
3952 - (658834215058125*nl3*x4o*x6o*sin(2*x2))/194780683883773952 - (41952829719
85455*x1o*x4o*x6o*sin(2*x2))/1558245471070191616 + (451616672421875*nl3*x6o^2*si
n(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - (2131005680559775*x1o*x6o^2*sin(x
2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (2276735700187425*x4o*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (517511620381875*nl3*x1o*x6o*cos(x2)
)/389561367767547904 - (1265731564896875*nl3*x4o*x6o*cos(x2))/389561367767547904
- (32390222160485*x1o*x4o*x6o*cos(x2))/389561367767547904 + (206615503815625*nl
3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 - (122627564284375*nl
3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 - (867055491312575*x1
o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (222719131595625*n
l3*x1o*x4o*x6o*cos(x2))/194780683883773952 + (471427290321875*nl3*x1o*x4o*x6o*si
n(2*x2))/97390341941886976 + (314304158996875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x
2)/2 + 1/2))/97390341941886976 - 2821265610671888229/779122735535095808, (218174
056796248161375*nl3)/49863855074246131712 - (157751139337345608697*x1o)/19945542
0296984526848 + (62048854012325533927*x4o)/199455420296984526848 - (221814686435
350663605*x6o*sin(2*x2))/797821681187938107392 + (2174958922234242125*nl3*x1o)/2
4931927537123065856 + (5397420912804864625*nl3*x4o)/24931927537123065856 + (4061
0764984579449*x1o*x4o)/576460752303423488 + (196730095547389490075*x6o*cos(x2))/
797821681187938107392 - (7009119006279395075*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
797821681187938107392 - (4151114247083371875*nl3*x6o*cos(x2))/997277101484922634
24 + (8667400577996761025*x1o*x6o*cos(x2))/398910840593969053696 - (754806924443
6738015*x4o*x6o*cos(x2))/398910840593969053696 + (7262441754064555625*nl3*x6o*si
n(2*x2))/99727710148492263424 + (8962850652364758265*x1o*x6o*sin(2*x2))/39891084
0593969053696 + (12953983126822366425*x4o*x6o*sin(2*x2))/398910840593969053696 (11910085264709625*nl3*x1o*x4o)/72057594037927936 + (1508051240941606875*nl3*x1
o*x6o*sin(2*x2))/49863855074246131712 - (673604188499425625*nl3*x4o*x6o*sin(2*x2
))/49863855074246131712 - (2370055782812805525*x1o*x4o*x6o*sin(2*x2))/1994554202
96984526848 - (2819975760193778125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/997277
10148492263424 - (12114036413482590825*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/39
8910840593969053696 + (3679620754665990775*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/398910840593969053696 - (2096754504156130625*nl3*x1o*x6o*cos(x2))/498638550742
46131712 + (1562881684347841875*nl3*x4o*x6o*cos(x2))/49863855074246131712 + (250
1679283655863355*x1o*x4o*x6o*cos(x2))/199455420296984526848 + (24789568840463906
25*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855074246131712 - (7111844297
59471875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855074246131712 - (2255
370547174856675*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/199455420296984526848
- (426250409154944375*nl3*x1o*x4o*x6o*cos(x2))/24931927537123065856 + (54785961
3094468125*nl3*x1o*x4o*x6o*sin(2*x2))/24931927537123065856 + (362281060223684375
*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 - 179624980
2375352363355/398910840593969053696,
(745519280991860875*nl3)/3895613677675
47904 - (441793033134740533*x1o)/1558245471070191616 - (140030910753542601*x4o)/
1558245471070191616 - (640465657164729615*x6o*sin(2*x2))/6232981884280766464 - (

9340994585550125*nl3*x1o)/194780683883773952 + (16861797183037875*nl3*x4o)/19478
0683883773952 + (26319220655528233*x1o*x4o)/779122735535095808 + (56999100511786
9565*x6o*cos(x2))/6232981884280766464 - (66021130965070775*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/6232981884280766464 + (5673881863355625*nl3*x6o*cos(x2))/779122735
535095808 + (3645930096440015*x1o*x6o*cos(x2))/3116490942140383232 - (8636269608
614125*x4o*x6o*cos(x2))/3116490942140383232 - (8981922472710625*nl3*x6o*sin(2*x2
))/779122735535095808 + (64199881330057755*x1o*x6o*sin(2*x2))/311649094214038323
2 - (44973056479392165*x4o*x6o*sin(2*x2))/3116490942140383232 - (372373665316312
5*nl3*x1o*x4o)/97390341941886976 + (2641756147001875*nl3*x1o*x6o*sin(2*x2))/3895
61367767547904 - (2227471115348125*nl3*x4o*x6o*sin(2*x2))/389561367767547904 - (
10467056667816295*x1o*x4o*x6o*sin(2*x2))/1558245471070191616 - (7012560613709375
*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (49229693363196425*
x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (20738730804822375*
x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (6307538226301875*n
l3*x1o*x6o*cos(x2))/389561367767547904 + (3787868027823125*nl3*x4o*x6o*cos(x2))/
389561367767547904 + (7587333728766425*x1o*x4o*x6o*cos(x2))/1558245471070191616
+ (10728117392815625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3895613677675479
04 - (3179118078459375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/38956136776754
7904 - (10879250362310975*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/15582454710
70191616 - (1533623203184375*nl3*x1o*x4o*x6o*cos(x2))/194780683883773952 + (2535
685675879375*nl3*x1o*x4o*x6o*sin(2*x2))/194780683883773952 + (1829632837490625*n
l3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - 2434661390191
7936427/3116490942140383232, (125939607075275375*nl3)/194780683883773952 + (7515
63439438254641*x1o)/6232981884280766464 - (51046044608689963*x4o)/97390341941886
976 + (117248125857793405*x6o*sin(2*x2))/6232981884280766464 - (1759621835777662
5*nl3*x1o)/194780683883773952 - (51801728642333625*nl3*x4o)/389561367767547904 +
(270988202363477051*x1o*x4o)/3116490942140383232 - (240004941570833575*x6o*cos(
x2))/12465963768561532928 - (34769083636760625*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/3116490942140383232 + (9800691421400625*nl3*x6o*cos(x2))/3116490942140383232 (126713911456332065*x1o*x6o*cos(x2))/12465963768561532928 - (22188113393556025*
x4o*x6o*cos(x2))/6232981884280766464 - (14151245619315625*nl3*x6o*sin(2*x2))/311
6490942140383232 + (146738727542836785*x1o*x6o*sin(2*x2))/12465963768561532928 (97707413883541445*x4o*x6o*sin(2*x2))/3116490942140383232 + (23236082595631875*
nl3*x1o*x4o)/194780683883773952 - (31992339277071875*nl3*x1o*x6o*sin(2*x2))/1558
245471070191616 + (25939386952781875*nl3*x4o*x6o*sin(2*x2))/1558245471070191616
+ (68040429309019515*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 + (1639714240487
8125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (21548406324589
6725*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (136699402666
56475*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (246355900176
76875*nl3*x1o*x6o*cos(x2))/1558245471070191616 - (41677981131559375*nl3*x4o*x6o*
cos(x2))/1558245471070191616 - (75990081061160315*x1o*x4o*x6o*cos(x2))/623298188
4280766464 - (9454509865134375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561
367767547904 + (11328694167728125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779
122735535095808 + (92795574264592575*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
6232981884280766464 + (21234744918661875*nl3*x1o*x4o*x6o*cos(x2))/77912273553509
5808 - (16071273181489375*nl3*x1o*x4o*x6o*sin(2*x2))/779122735535095808 - (81892
97909465625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 1192737045951180851/779122735535095808, (626921593333043875*nl3)/194780683883773
952 - (339913614072535155*x1o)/1558245471070191616 + (219163741303274957*x4o)/15
58245471070191616 - (369053838812660655*x6o*sin(2*x2))/6232981884280766464 - (15
93108687027125*nl3*x1o)/6086896371367936 + (19325485569485875*nl3*x4o)/973903419
41886976 + (112184008156358877*x1o*x4o)/779122735535095808 + (571970372657666905
*x6o*cos(x2))/6232981884280766464 - (123604251005776675*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/6232981884280766464 + (13237766799791875*nl3*x6o*cos(x2))/38956136776
7547904 - (7932757574772255*x1o*x6o*cos(x2))/3116490942140383232 - (909462178470
67815*x4o*x6o*cos(x2))/3116490942140383232 - (4512884755174375*nl3*x6o*sin(2*x2)
)/194780683883773952 + (97007805745502965*x1o*x6o*sin(2*x2))/3116490942140383232
+ (63688211562142785*x4o*x6o*sin(2*x2))/3116490942140383232 - (2761379754263875
*nl3*x1o*x4o)/24347585485471744 + (778656646234375*nl3*x1o*x6o*sin(2*x2))/194780
683883773952 + (20022592641875*nl3*x4o*x6o*sin(2*x2))/12173792742735872 - (11188

68807567315*x1o*x4o*x6o*sin(2*x2))/1558245471070191616 + (328925665215625*nl3*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (15933354235849775*x1o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (7003532966105325*x4o*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (495692608848125*nl3*x1o*x6
o*cos(x2))/48695170970943488 + (3238064024026875*nl3*x4o*x6o*cos(x2))/1947806838
83773952 + (5147791130446305*x1o*x4o*x6o*cos(x2))/1558245471070191616 + (2362019
491459375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (14043
8670084375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471744 - (44042
66571981375*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (81
995100404375*nl3*x1o*x4o*x6o*cos(x2))/48695170970943488 + (1033048215659375*nl3*
x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (219125451559375*nl3*x1o*x4o*x6o^2*si
n(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - 26717265761714845755/311649094214
0383232,
(2037409266922009875*nl3)/3116490942140383232 - (
728861989408245809*x1o)/6232981884280766464 + (2283386635165032475*x4o)/31164909
42140383232 - (16507249979005165*x6o*sin(2*x2))/144115188075855872 + (2254362924
330875*nl3*x1o)/1558245471070191616 + (339539282251515375*nl3*x4o)/1558245471070
191616 - (220407966835657455*x1o*x4o)/3116490942140383232 + (118205977278583025*
x6o*cos(x2))/3116490942140383232 + (12322498094669125*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/24931927537123065856 - (31523775302349375*nl3*x6o*cos(x2))/623298188428
0766464 + (73453688402155*x1o*x6o*cos(x2))/72057594037927936 - (1477159339620076
5*x4o*x6o*cos(x2))/6232981884280766464 + (418947229504375*nl3*x6o*sin(2*x2))/360
28797018963968 - (11653907387817695*x1o*x6o*sin(2*x2))/6232981884280766464 + (45
7355643133559765*x4o*x6o*sin(2*x2))/12465963768561532928 - (142471540554967625*n
l3*x1o*x4o)/779122735535095808 - (1247089396425625*nl3*x1o*x6o*sin(2*x2))/311649
0942140383232 - (31064121341895625*nl3*x4o*x6o*sin(2*x2))/3116490942140383232 (11486131635847885*x1o*x4o*x6o*sin(2*x2))/1558245471070191616 + (171376399642531
25*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (56760030262625*
x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (98264380904283675*
x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (31682261524375*nl
3*x1o*x6o*cos(x2))/18014398509481984 + (106038725503268125*nl3*x4o*x6o*cos(x2))/
3116490942140383232 + (88025133816213225*x1o*x4o*x6o*cos(x2))/623298188428076646
4 + (4592977062103125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/311649094214038
3232 - (51152473145409375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/31164909421
40383232 - (49826371198167025*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490
942140383232 - (43095597724209375*nl3*x1o*x4o*x6o*cos(x2))/1558245471070191616 +
(35600259435901875*nl3*x1o*x4o*x6o*sin(2*x2))/1558245471070191616 + (3439700982
6690625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - 772
743369165913881/389561367767547904, (3654665584372230437*x4o)/779122735535095808
- (1149645732798501161*x1o)/779122735535095808 - (361254070379561625*nl3)/48695
170970943488 - (582320201841261665*x6o*sin(2*x2))/3116490942140383232 + (1471549
9825824125*nl3*x1o)/12173792742735872 + (63618796406275125*nl3*x4o)/486951709709
43488 - (472216775727361971*x1o*x4o)/389561367767547904 + (586651824688689375*x6
o*cos(x2))/3116490942140383232 + (303123522622619225*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/3116490942140383232 - (20088084404988125*nl3*x6o*cos(x2))/19478068388377
3952 + (803041021117535*x1o*x6o*cos(x2))/9007199254740992 + (191720617014365965*
x4o*x6o*cos(x2))/1558245471070191616 + (10973008758043125*nl3*x6o*sin(2*x2))/973
90341941886976 - (159594013591893665*x1o*x6o*sin(2*x2))/1558245471070191616 + (2
32685429001849605*x4o*x6o*sin(2*x2))/1558245471070191616 - (28320782158221125*nl
3*x1o*x4o)/24347585485471744 + (7356564591060625*nl3*x1o*x6o*sin(2*x2))/48695170
970943488 - (18371074981840625*nl3*x4o*x6o*sin(2*x2))/97390341941886976 - (96799
601411050855*x1o*x4o*x6o*sin(2*x2))/779122735535095808 - (17745088047509375*nl3*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - (224082156254316875*x1o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (157493639743535175*x4o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (66124569990625*nl3*x1o
*x6o*cos(x2))/562949953421312 + (50939187014375*nl3*x4o*x6o*cos(x2))/19021551160
5248 + (105410091517817805*x1o*x4o*x6o*cos(x2))/779122735535095808 + (9834439563
446875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 - (159511834
62803125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - (1257552
57755934225*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (358
5981600013125*nl3*x1o*x4o*x6o*cos(x2))/12173792742735872 + (11500434988771875*nl

3*x1o*x4o*x6o*sin(2*x2))/48695170970943488 + (11183608673246875*nl3*x1o*x4o*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + 28122478845638311675/15582454
71070191616, (322617486315161125*nl3)/12465963768561532928 - (604937213799583615
*x1o)/49863855074246131712 - (645559938347426917*x4o)/49863855074246131712 - (93
0593812311689815*x6o*sin(2*x2))/199455420296984526848 + (5423962772482875*nl3*x1
o)/6232981884280766464 + (29394318749085375*nl3*x4o)/6232981884280766464 - (9887
508858541311*x1o*x4o)/24931927537123065856 + (465134231758819745*x6o*cos(x2))/19
9455420296984526848 + (39491642666372375*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1994
55420296984526848 + (25434112605466875*nl3*x6o*cos(x2))/24931927537123065856 + (
10495256158117275*x1o*x6o*cos(x2))/99727710148492263424 + (48049205649804305*x4o
*x6o*cos(x2))/99727710148492263424 - (53757247207173125*nl3*x6o*sin(2*x2))/24931
927537123065856 + (16429067257155315*x1o*x6o*sin(2*x2))/99727710148492263424 - (
165594204696048875*x4o*x6o*sin(2*x2))/99727710148492263424 - (2665019433238375*n
l3*x1o*x4o)/3116490942140383232 + (17058981075560625*nl3*x1o*x6o*sin(2*x2))/1246
5963768561532928 - (2917383866536875*nl3*x4o*x6o*sin(2*x2))/12465963768561532928
- (26738428710128405*x1o*x4o*x6o*sin(2*x2))/49863855074246131712 - (37277093260
359375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 - (1557980044
19664175*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 + (47138801
651076175*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424 - (1822694
9324836875*nl3*x1o*x6o*cos(x2))/12465963768561532928 + (5577825586335625*nl3*x4o
*x6o*cos(x2))/12465963768561532928 + (16359406873174015*x1o*x4o*x6o*cos(x2))/498
63855074246131712 + (30672805513371875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/12465963768561532928 - (5696455071665625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/12465963768561532928 - (20817884354184675*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/49863855074246131712 - (3923213652920625*nl3*x1o*x4o*x6o*cos(x2))/623
2981884280766464 + (4158220637034375*nl3*x1o*x4o*x6o*sin(2*x2))/6232981884280766
464 + (3722764107228125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/623298188
4280766464 - 22502523781065381305/99727710148492263424, (100772677800614375*nl3)
/24931927537123065856 + (891878240314997037*x1o)/99727710148492263424 + (1278918
441379349357*x4o)/99727710148492263424 + (1474551994877483445*x6o*sin(2*x2))/398
910840593969053696 - (37850723650240375*nl3*x1o)/12465963768561532928 - (2930165
2611610375*nl3*x4o)/12465963768561532928 + (76556015022581551*x1o*x4o)/498638550
74246131712 - (529657972846875045*x6o*cos(x2))/398910840593969053696 - (13633192
6842419375*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/398910840593969053696 - (293896083
54496875*nl3*x6o*cos(x2))/49863855074246131712 - (24340339090132695*x1o*x6o*cos(
x2))/199455420296984526848 - (133501128728565095*x4o*x6o*cos(x2))/19945542029698
4526848 + (83945421730010625*nl3*x6o*sin(2*x2))/49863855074246131712 + (23992761
711596095*x1o*x6o*sin(2*x2))/199455420296984526848 + (327959102547738815*x4o*x6o
*sin(2*x2))/199455420296984526848 - (1781794536648625*nl3*x1o*x4o)/6232981884280
766464 - (28872294077170625*nl3*x1o*x6o*sin(2*x2))/24931927537123065856 + (51521
12287929375*nl3*x4o*x6o*sin(2*x2))/24931927537123065856 + (45726393528963325*x1o
*x4o*x6o*sin(2*x2))/99727710148492263424 + (65660096450134375*nl3*x6o^2*sin(x2)*
(cos(2*x2)/2 + 1/2))/49863855074246131712 + (263558344137485875*x1o*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/199455420296984526848 - (78036453682901725*x4o*x6o^2*sin(
x2)*(cos(2*x2)/2 + 1/2))/199455420296984526848 + (29770705743431875*nl3*x1o*x6o*
cos(x2))/24931927537123065856 - (5880553668033125*nl3*x4o*x6o*cos(x2))/249319275
37123065856 - (25302048737617005*x1o*x4o*x6o*cos(x2))/99727710148492263424 - (51
081627012559375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856
+ (8604348826915625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065
856 + (33554056040570025*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/997277101484
92263424 + (6927144470533125*nl3*x1o*x4o*x6o*cos(x2))/12465963768561532928 - (60
10944982434375*nl3*x1o*x4o*x6o*sin(2*x2))/12465963768561532928 - (61958578156156
25*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + 2538752
3808014353319/199455420296984526848]
[ (574192319227280405*x4o)/6232981884280766464 - (66880871891303043*x1o)/6232981
884280766464 - (67165625324203375*nl3)/1558245471070191616 + (22945805381969125*
x6o*sin(2*x2))/1558245471070191616 - (4428053061237125*nl3*x1o)/3895613677675479
04 - (39756652766925375*nl3*x4o)/779122735535095808 + (78709676249196029*x1o*x4o
)/3116490942140383232 + (192515919661025225*x6o*cos(x2))/24931927537123065856 +
(23461692863413725*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (21

510475638538125*nl3*x6o*cos(x2))/3116490942140383232 + (18901823017546225*x1o*x6
o*cos(x2))/12465963768561532928 - (195979301481623375*x4o*x6o*cos(x2))/124659637
68561532928 - (2304852592154375*nl3*x6o*sin(2*x2))/194780683883773952 - (5335737
60108995*x1o*x6o*sin(2*x2))/1558245471070191616 + (150197897143025495*x4o*x6o*si
n(2*x2))/6232981884280766464 - (8644820808111125*nl3*x1o*x4o)/194780683883773952
+ (10516250184009375*nl3*x1o*x6o*sin(2*x2))/1558245471070191616 - (289700139059
1875*nl3*x4o*x6o*sin(2*x2))/194780683883773952 + (5663309193513335*x1o*x4o*x6o*s
in(2*x2))/3116490942140383232 - (13411816441928125*nl3*x6o^2*sin(x2)*(cos(2*x2)/
2 + 1/2))/1558245471070191616 - (38743143968262475*x1o*x6o^2*sin(x2)*(cos(2*x2)/
2 + 1/2))/6232981884280766464 + (13729817453725*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/97390341941886976 + (662938947415625*nl3*x1o*x6o*cos(x2))/779122735535095
808 + (27931020207646875*nl3*x4o*x6o*cos(x2))/1558245471070191616 + (15163436648
216585*x1o*x4o*x6o*cos(x2))/6232981884280766464 + (9550816438515625*nl3*x1o*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (74663926528125*nl3*x4o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471744 - (4707686122208625*x1o*x4o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (1077873381223125*nl3*x1o
*x4o*x6o*cos(x2))/194780683883773952 + (2903059325059375*nl3*x1o*x4o*x6o*sin(2*x
2))/779122735535095808 + (3311868973559375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/
2 + 1/2))/779122735535095808 + 9053595043043910185/12465963768561532928,
(472117482995509375*nl3)/38956136
7767547904 - (250530835200003159*x1o)/3116490942140383232 - (6841580373674661713
*x4o)/3116490942140383232 - (15389379596519325*x6o*sin(2*x2))/124659637685615329
28 + (23519807742552625*nl3*x1o)/194780683883773952 + (47316761163018375*nl3*x4o
)/194780683883773952 + (29791080171194671*x1o*x4o)/1558245471070191616 - (615360
698436240205*x6o*cos(x2))/12465963768561532928 - (144695569159250675*x6o^2*sin(x
2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (16004629534381875*nl3*x6o*cos(x2
))/779122735535095808 - (73830787707213045*x1o*x6o*cos(x2))/6232981884280766464
- (34353922727582555*x4o*x6o*cos(x2))/6232981884280766464 + (6467364580629375*nl
3*x6o*sin(2*x2))/194780683883773952 + (95047495241149315*x1o*x6o*sin(2*x2))/6232
981884280766464 - (262367436868881795*x4o*x6o*sin(2*x2))/6232981884280766464 - (
1536135207542375*nl3*x1o*x4o)/97390341941886976 - (6317526741559375*nl3*x1o*x6o*
sin(2*x2))/194780683883773952 + (563290738149375*nl3*x4o*x6o*sin(2*x2))/19478068
3883773952 + (30927037292209725*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 + (34
26401324215625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (2988
9593708307725*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (4905
1358278227725*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (1077
9277663708125*nl3*x1o*x6o*cos(x2))/389561367767547904 + (3484689828860625*nl3*x4
o*x6o*cos(x2))/389561367767547904 - (19346970888273955*x1o*x4o*x6o*cos(x2))/3116
490942140383232 - (1957794222753125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1
94780683883773952 + (257837236540625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
24347585485471744 + (26773501876639075*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2)
)/3116490942140383232 + (736966240488125*nl3*x1o*x4o*x6o*cos(x2))/19478068388377
3952 - (516531483460625*nl3*x1o*x4o*x6o*sin(2*x2))/48695170970943488 - (25636558
6228125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471744 - 34646
328364005369687/6232981884280766464, (105095311077582125*nl3)/155824547107019161
6 - (28084395789146565*x1o)/779122735535095808 - (664970348590078281*x4o)/155824
5471070191616 + (503541193273022775*x6o*sin(2*x2))/12465963768561532928 + (94364
444453221875*nl3*x1o)/779122735535095808 - (153394831522107625*nl3*x4o)/77912273
5535095808 + (88600970773467023*x1o*x4o)/1558245471070191616 - (2555464580370570
25*x6o*cos(x2))/12465963768561532928 - (567409650470575*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/72057594037927936 - (51384972285604375*nl3*x6o*cos(x2))/3116490942140
383232 - (30511000708694095*x1o*x6o*cos(x2))/3116490942140383232 - (288428456717
61575*x4o*x6o*cos(x2))/1558245471070191616 - (19297095515999375*nl3*x6o*sin(2*x2
))/3116490942140383232 + (10738374427595945*x1o*x6o*sin(2*x2))/77912273553509580
8 + (8749334289877195*x4o*x6o*sin(2*x2))/779122735535095808 - (14417759759283875
*nl3*x1o*x4o)/389561367767547904 - (24469629105113125*nl3*x1o*x6o*sin(2*x2))/155
8245471070191616 - (41263622922660625*nl3*x4o*x6o*sin(2*x2))/1558245471070191616
+ (28482118360352005*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 - (159433602218
75*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/18014398509481984 + (1108388036040775*

x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (3794709461096225*x

4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (34161690368446875*nl
3*x1o*x6o*cos(x2))/1558245471070191616 + (27992426756809375*nl3*x4o*x6o*cos(x2))
/1558245471070191616 - (9707257731337625*x1o*x4o*x6o*cos(x2))/311649094214038323
2 - (7623393066340625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/155824547107019
1616 + (4963600606821875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/155824547107
0191616 + (9578651382076475*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/311649094
2140383232 - (341025812029375*nl3*x1o*x4o*x6o*cos(x2))/779122735535095808 - (267
2511170049375*nl3*x1o*x4o*x6o*sin(2*x2))/779122735535095808 - (2609311178559375*
nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - 924674631669
7047645/6232981884280766464,
(4763851371140571685*x4o)/311649
0942140383232 - (18252137277516411*x1o)/3116490942140383232 - (48661711437262625
*nl3)/779122735535095808 + (469132940643354945*x6o*sin(2*x2))/124659637685615329
28 - (5254811778108875*nl3*x1o)/389561367767547904 - (61170606785598125*nl3*x4o)
/389561367767547904 + (30862856064249981*x1o*x4o)/1558245471070191616 - (1834129
3750952245*x6o*cos(x2))/12465963768561532928 + (37895181687248475*x6o^2*sin(x2)*
(cos(2*x2)/2 + 1/2))/12465963768561532928 + (6237730401235625*nl3*x6o*cos(x2))/1
558245471070191616 + (11496352844643455*x1o*x6o*cos(x2))/6232981884280766464 - (
61817842771910805*x4o*x6o*cos(x2))/6232981884280766464 - (26346058569245625*nl3*
x6o*sin(2*x2))/1558245471070191616 - (28686860371544875*x1o*x6o*sin(2*x2))/62329
81884280766464 + (195002872436191705*x4o*x6o*sin(2*x2))/6232981884280766464 - (1
2279192836198375*nl3*x1o*x4o)/194780683883773952 + (6190482728513125*nl3*x1o*x6o
*sin(2*x2))/779122735535095808 - (16218086763653125*nl3*x4o*x6o*sin(2*x2))/77912
2735535095808 - (6848064267290955*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 - (
10387643420071875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (
205332052179425*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/36028797018963968 + (2731
7467928839075*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (5605
120654363125*nl3*x1o*x6o*cos(x2))/779122735535095808 + (16533033343103125*nl3*x4
o*x6o*cos(x2))/779122735535095808 + (29985461445467015*x1o*x4o*x6o*cos(x2))/3116
490942140383232 + (37618951496875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/450
3599627370496 - (3690857215734375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779
122735535095808 - (26367454310257325*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
3116490942140383232 - (6495734735865625*nl3*x1o*x4o*x6o*cos(x2))/389561367767547
904 + (2238175917645625*nl3*x1o*x4o*x6o*sin(2*x2))/389561367767547904 + (4047899
931696875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - 21
003456673118653723/6232981884280766464, (9593650490330375*nl3)/19478068388377395
2 - (71678560267361673*x1o)/779122735535095808 - (567358781931390421*x4o)/779122
735535095808 + (413598964174507315*x6o*sin(2*x2))/3116490942140383232 + (1265159
1698506875*nl3*x1o)/97390341941886976 - (48056408803324625*nl3*x4o)/973903419418
86976 + (34591249819178679*x1o*x4o)/389561367767547904 - (97190944121432075*x6o*
cos(x2))/3116490942140383232 - (19581049368124675*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/3116490942140383232 - (6641865283764375*nl3*x6o*cos(x2))/389561367767547904
- (9494254530546955*x1o*x6o*cos(x2))/1558245471070191616 - (28667011543531555*x
4o*x6o*cos(x2))/1558245471070191616 - (10376443468648125*nl3*x6o*sin(2*x2))/3895
61367767547904 + (17799927439440415*x1o*x6o*sin(2*x2))/1558245471070191616 + (14
0460560567411495*x4o*x6o*sin(2*x2))/1558245471070191616 - (2734722626113125*nl3*
x1o*x4o)/48695170970943488 - (3983416833738125*nl3*x1o*x6o*sin(2*x2))/1947806838
83773952 - (11742075745478125*nl3*x4o*x6o*sin(2*x2))/194780683883773952 + (53078
95073844935*x1o*x4o*x6o*sin(2*x2))/779122735535095808 - (1496563617421875*nl3*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (8345557197920975*x1o*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (3323240697521675*x4o*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (2061104665038125*nl3*x1o*x6
o*cos(x2))/194780683883773952 + (4712729160875625*nl3*x4o*x6o*cos(x2))/194780683
883773952 - (2265386311684655*x1o*x4o*x6o*cos(x2))/779122735535095808 + (7692073
38428125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (105992
1363353125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (1931
881015421525*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (60
6785763216875*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 - (575564629398125*nl3*
x1o*x4o*x6o*sin(2*x2))/97390341941886976 - (218206073896875*nl3*x1o*x4o*x6o^2*si
n(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - 16752243334667468009/155824547107

0191616, (892390507479466375*nl3)/6232981884280766464 + (34295729477311265*x1o)/

6232981884280766464 - (4303512784101514135*x4o)/1558245471070191616 - (579586455
439514225*x6o*sin(2*x2))/24931927537123065856 + (3369870380207625*nl3*x1o)/31164
90942140383232 - (151172007941772375*nl3*x4o)/3116490942140383232 + (74852335911
169631*x1o*x4o)/3116490942140383232 - (217870392484256615*x6o*cos(x2))/249319275
37123065856 - (43352966677412275*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/124659637685
61532928 - (20448840109655625*nl3*x6o*cos(x2))/12465963768561532928 + (165704181
75936235*x1o*x6o*cos(x2))/12465963768561532928 + (87162537735167375*x4o*x6o*cos(
x2))/12465963768561532928 + (65253046401609375*nl3*x6o*sin(2*x2))/12465963768561
532928 + (88058716514064905*x1o*x6o*sin(2*x2))/12465963768561532928 - (664305906
7573935*x4o*x6o*sin(2*x2))/12465963768561532928 + (100288288281178375*nl3*x1o*x4
o)/1558245471070191616 - (33293087183131875*nl3*x1o*x6o*sin(2*x2))/6232981884280
766464 - (30940023443919375*nl3*x4o*x6o*sin(2*x2))/6232981884280766464 + (449323
9776914615*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 + (20626004358409375*nl3*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (870759604558925*x1o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (18497609638458625*x4o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (6316920627348125*nl3*x1
o*x6o*cos(x2))/6232981884280766464 - (102219773483814375*nl3*x4o*x6o*cos(x2))/62
32981884280766464 - (72654247409536275*x1o*x4o*x6o*cos(x2))/6232981884280766464
- (9404677032584375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/62329818842807664
64 + (33584719415340625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280
766464 + (55526554631384725*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/623298188
4280766464 + (49784228764321875*nl3*x1o*x4o*x6o*cos(x2))/3116490942140383232 - (
22416358134358125*nl3*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 - (319786067597
65625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - 62898
27163660496873/3116490942140383232,
(41763845937353375*nl3)/48695170970943488 + (2710869421232249*x1o)/24347
585485471744 - (2001439380174392587*x4o)/97390341941886976 - (22539874357576125*
x6o*sin(2*x2))/48695170970943488 + (953590846122875*nl3*x1o)/24347585485471744 +
(49222317908276125*nl3*x4o)/24347585485471744 - (4627517830910575*x1o*x4o)/2434
7585485471744 + (5856804199346795*x6o*cos(x2))/194780683883773952 - (55688656765
825*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2251799813685248 - (3094402549804375*nl3*
x6o*cos(x2))/97390341941886976 - (2317268762437315*x1o*x6o*cos(x2))/194780683883
773952 + (9887445330669805*x4o*x6o*cos(x2))/97390341941886976 + (192901451764056
25*nl3*x6o*sin(2*x2))/97390341941886976 + (7459910994610305*x1o*x6o*sin(2*x2))/1
94780683883773952 - (40173720938654485*x4o*x6o*sin(2*x2))/97390341941886976 + (8
777614986336625*nl3*x1o*x4o)/12173792742735872 - (3438528355479375*nl3*x1o*x6o*s
in(2*x2))/48695170970943488 + (12501010706084375*nl3*x4o*x6o*sin(2*x2))/48695170
970943488 + (2628341176053745*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (368329
97034375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/562949953421312 + (3478801193428
75*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6086896371367936 - (9303458214419175*x
4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (3086086119040625*nl3
*x1o*x6o*cos(x2))/48695170970943488 - (11576777119905625*nl3*x4o*x6o*cos(x2))/48
695170970943488 - (9768791408276165*x1o*x4o*x6o*cos(x2))/97390341941886976 - (40
66072404590625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (2
573219972765625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (
2230873779375625*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471744 +
(4361171146269375*nl3*x1o*x4o*x6o*cos(x2))/24347585485471744 - (1669446835005625
*nl3*x1o*x4o*x6o*sin(2*x2))/24347585485471744 - (2750151775021875*nl3*x1o*x4o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471744 + 9321982408132188317/1947806
83883773952,
(21448309979244375*nl3*x1o)/3116490942140
383232 - (87423942103381151*x1o)/49863855074246131712 - (533963196447938805*x4o)
/49863855074246131712 - (138686002650312505*x6o*sin(2*x2))/199455420296984526848
- (20250214343677875*nl3)/1558245471070191616 - (7481657714879625*nl3*x4o)/1558
245471070191616 + (63571061944833137*x1o*x4o)/24931927537123065856 - (1573098453
22441375*x6o*cos(x2))/199455420296984526848 - (65453544609643475*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/199455420296984526848 - (2345041749906875*nl3*x6o*cos(x2))/3
116490942140383232 - (52220288296175745*x1o*x6o*cos(x2))/99727710148492263424 (129213011346821755*x4o*x6o*cos(x2))/99727710148492263424 - (8318236286755625*nl
3*x6o*sin(2*x2))/12465963768561532928 + (59874250100510285*x1o*x6o*sin(2*x2))/99

727710148492263424 - (76250578673993305*x4o*x6o*sin(2*x2))/99727710148492263424
- (3708093206224375*nl3*x1o*x4o)/1558245471070191616 - (95151775401875*nl3*x1o*x
6o*sin(2*x2))/389561367767547904 - (2960985561988125*nl3*x4o*x6o*sin(2*x2))/6232
981884280766464 + (35148721514829985*x1o*x4o*x6o*sin(2*x2))/49863855074246131712
- (1482563080059375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928
+ (3669621081183775*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/99727710148492263424
- (41343336130596075*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/9972771014849226342
4 + (7757300095030625*nl3*x1o*x6o*cos(x2))/6232981884280766464 + (10934135290243
75*nl3*x4o*x6o*cos(x2))/1558245471070191616 - (10945402583855585*x1o*x4o*x6o*cos
(x2))/49863855074246131712 - (382217732921875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/1558245471070191616 + (1006505598896875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/6232981884280766464 + (8878854891449475*x1o*x4o*x6o^2*sin(x2)*(cos(2
*x2)/2 + 1/2))/49863855074246131712 + (325870689118125*nl3*x1o*x4o*x6o*cos(x2))/
3116490942140383232 - (101974566715625*nl3*x1o*x4o*x6o*sin(2*x2))/38956136776754
7904 - (345769088215625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/155824547
1070191616 + 17418388434615177855/99727710148492263424,
(35868621425513875*nl3)/31164
90942140383232 + (18940401680802297*x1o)/24931927537123065856 + (287841016014673
63*x4o)/12465963768561532928 + (11168169661975425*x6o*sin(2*x2))/623298188428076
6464 - (970862490955875*nl3*x1o)/194780683883773952 - (273158330207125*nl3*x4o)/
3116490942140383232 - (18060745470953439*x1o*x4o)/12465963768561532928 + (420830
85536750835*x6o*cos(x2))/99727710148492263424 + (23759306327685025*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/99727710148492263424 + (6586334415939375*nl3*x6o*cos(x2))/
12465963768561532928 + (5152094729429185*x1o*x6o*cos(x2))/12465963768561532928 +
(48297515477662285*x4o*x6o*cos(x2))/49863855074246131712 + (4236620400388125*nl
3*x6o*sin(2*x2))/12465963768561532928 - (21698922219213975*x1o*x6o*sin(2*x2))/49
863855074246131712 + (9387365165281145*x4o*x6o*sin(2*x2))/6232981884280766464 +
(2525850180756875*nl3*x1o*x4o)/1558245471070191616 + (291644346153125*nl3*x1o*x6
o*sin(2*x2))/6232981884280766464 - (341939225174375*nl3*x4o*x6o*sin(2*x2))/31164
90942140383232 - (13902331568893245*x1o*x4o*x6o*sin(2*x2))/24931927537123065856
+ (412681301434375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 (2107994292510425*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 +
(17119221661033925*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/49863855074246131712 (6311832847250625*nl3*x1o*x6o*cos(x2))/6232981884280766464 - (645122515714375*n
l3*x4o*x6o*cos(x2))/1558245471070191616 + (126905439547905*x1o*x4o*x6o*cos(x2))/
779122735535095808 + (50320124346875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
194780683883773952 - (577347526465625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
/6232981884280766464 - (832283999174575*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/6232981884280766464 - (218533843579375*nl3*x1o*x4o*x6o*cos(x2))/1558245471070
191616 + (17084058596875*nl3*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (5407052
68809375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - 19
0165527633639979/779122735535095808]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
[
(297967634132224625*nl3)/19478068388
3773952 - (196993853398817995*x1o)/779122735535095808 - (112992622917958289*x4o)
/779122735535095808 - (23533543610982015*x6o*sin(2*x2))/3116490942140383232 + (2
94381523289375*nl3*x1o)/97390341941886976 + (2020777497768375*nl3*x4o)/243475854
85471744 + (1268795228745861*x1o*x4o)/97390341941886976 + (229957600480017485*x6
o*cos(x2))/3116490942140383232 - (66055804591290525*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/1558245471070191616 + (1710522603799375*nl3*x6o*cos(x2))/3895613677675479
04 - (50899246033819055*x1o*x6o*cos(x2))/1558245471070191616 + (4149227067214485
*x4o*x6o*cos(x2))/1558245471070191616 - (30530159320185625*nl3*x6o*sin(2*x2))/77
9122735535095808 + (33103281283689795*x1o*x6o*sin(2*x2))/779122735535095808 - (1
6617911322385015*x4o*x6o*sin(2*x2))/779122735535095808 - (503412886142125*nl3*x1
o*x4o)/48695170970943488 - (18136513534668125*nl3*x1o*x6o*sin(2*x2))/38956136776
7547904 + (1547653315033125*nl3*x4o*x6o*sin(2*x2))/389561367767547904 + (1466533
5622115*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (34527999061196875*nl3*x6o^2*

sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (89054075654797875*x1o*x6o^2*s

in(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (232384324637025*x4o*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (9130796432644375*nl3*x1o*x6o*co
s(x2))/194780683883773952 + (123409162816875*nl3*x4o*x6o*cos(x2))/97390341941886
976 - (410619320326525*x1o*x4o*x6o*cos(x2))/389561367767547904 - (27700112509978
125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (37256660680
3125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (7443942197
8775*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (1963686084
44375*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 + (688037251551875*nl3*x1o*x4o*
x6o*sin(2*x2))/194780683883773952 - (270546108128125*nl3*x1o*x4o*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/194780683883773952 - 8309198966654024633/1558245471070191616
,
(6405372680666134875*nl3)/779122735535095808 - (76192
4359409900597*x1o)/779122735535095808 + (53727383374795437*x4o)/1947806838837739
52 - (90617333328700895*x6o*sin(2*x2))/389561367767547904 + (54784692215080125*n
l3*x1o)/389561367767547904 + (24060872863593125*nl3*x4o)/389561367767547904 + (1
5735809955732569*x1o*x4o)/194780683883773952 + (485057715117865585*x6o*cos(x2))/
1558245471070191616 + (113622415503019625*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/311
6490942140383232 - (77353757949541875*nl3*x6o*cos(x2))/1558245471070191616 + (13
469801331082025*x1o*x6o*cos(x2))/389561367767547904 - (24120074683578415*x4o*x6o
*cos(x2))/1558245471070191616 + (145239896970914375*nl3*x6o*sin(2*x2))/155824547
1070191616 + (24020204368094655*x1o*x6o*sin(2*x2))/779122735535095808 + (2278020
0081767055*x4o*x6o*sin(2*x2))/1558245471070191616 - (31501080761233125*nl3*x1o*x
4o)/194780683883773952 + (11250644005553125*nl3*x1o*x6o*sin(2*x2))/7791227355350
95808 + (18406575219863125*nl3*x4o*x6o*sin(2*x2))/779122735535095808 - (15074846
881780375*x1o*x4o*x6o*sin(2*x2))/779122735535095808 - (142683254690696875*nl3*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (322415138753375325*x1o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (5933644229531925*x4o*x6
o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (71894087483093125*nl3*x1o
*x6o*cos(x2))/779122735535095808 + (22394297613966875*nl3*x4o*x6o*cos(x2))/77912
2735535095808 + (24735121463673955*x1o*x4o*x6o*cos(x2))/779122735535095808 + (21
0015055372634375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 (28573089771290625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/77912273553509580
8 - (26631474843842025*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/38956136776754
7904 - (16666702544356875*nl3*x1o*x4o*x6o*cos(x2))/389561367767547904 + (1224504
7482059375*nl3*x1o*x4o*x6o*sin(2*x2))/389561367767547904 + (32658602551003125*nl
3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - 16272868416875
843331/1558245471070191616,
(757911831211070625*nl3)/194780683883773952 - (539271239517629033*x1o)/155824
5471070191616 - (148382881512659511*x4o)/1558245471070191616 - (3218693813928735
45*x6o*sin(2*x2))/6232981884280766464 - (7675373720210125*nl3*x1o)/9739034194188
6976 + (13107359558459375*nl3*x4o)/97390341941886976 + (50574989714478835*x1o*x4
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0341941886976 + (3376924402534375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))

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8554440625*nl3)/779122735535095808 + (54220746023875*nl3*x1o)/2251799813685248 (22716339112362875*nl3*x4o)/194780683883773952 + (134532220652763837*x1o*x4o)/3
116490942140383232 - (154392530154685915*x6o*cos(x2))/24931927537123065856 + (62
4895958576956275*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 + (1449
262512806875*nl3*x6o*cos(x2))/779122735535095808 + (203667566004222665*x1o*x6o*c
os(x2))/12465963768561532928 - (172844255084610095*x4o*x6o*cos(x2))/124659637685
61532928 - (11729881705470625*nl3*x6o*sin(2*x2))/389561367767547904 - (105213190
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*sin(2*x2))/6232981884280766464 - (64438527885234375*nl3*x6o^2*sin(x2)*(cos(2*x2
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x2)/2 + 1/2))/12465963768561532928 - (480819448169375*nl3*x1o*x6o*cos(x2))/24347
585485471744 + (6898251101356875*nl3*x4o*x6o*cos(x2))/779122735535095808 - (5673
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x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (259370648515625*nl3
*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (35463631165865575*
x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (34346856155068
75*nl3*x1o*x4o*x6o*cos(x2))/389561367767547904 - (1268628399898125*nl3*x1o*x4o*x
6o*sin(2*x2))/389561367767547904 - (615653476496875*nl3*x1o*x4o*x6o^2*sin(x2)*(c
os(2*x2)/2 + 1/2))/97390341941886976 + 20677024865226909937/12465963768561532928
, (162562660307688125*nl3*x1o)/389561367767547904 - (1576349791301900323*x1o)/31
16490942140383232 - (5821866558055789369*x4o)/3116490942140383232 - (25480405223

18981945*x6o*sin(2*x2))/12465963768561532928 - (355403836446243875*nl3)/77912273
5535095808 + (147421342715180875*nl3*x4o)/389561367767547904 + (2653432964659425
63*x1o*x4o)/1558245471070191616 - (82883518596888885*x6o*cos(x2))/12465963768561
532928 - (1049088567910661575*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/124659637685615
32928 - (144119988065303125*nl3*x6o*cos(x2))/1558245471070191616 - (543803261254
353585*x1o*x6o*cos(x2))/6232981884280766464 - (233668833397643515*x4o*x6o*cos(x2
))/6232981884280766464 + (95464709604584375*nl3*x6o*sin(2*x2))/15582454710701916
16 + (630358760771600135*x1o*x6o*sin(2*x2))/6232981884280766464 - (3430457576114
21855*x4o*x6o*sin(2*x2))/6232981884280766464 - (12222064473966125*nl3*x1o*x4o)/1
94780683883773952 - (72643158778340625*nl3*x1o*x6o*sin(2*x2))/779122735535095808
- (19922280946919375*nl3*x4o*x6o*sin(2*x2))/779122735535095808 - (1251559640443
015*x1o*x4o*x6o*sin(2*x2))/3116490942140383232 + (103009379770865625*nl3*x6o^2*s
in(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (770493441969253825*x1o*x6o^2*
sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (87128399940957575*x4o*x6o^2*
sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 + (116274496494764375*nl3*x1o*x
6o*cos(x2))/779122735535095808 + (33933282493323125*nl3*x4o*x6o*cos(x2))/7791227
35535095808 + (35109370804286745*x1o*x4o*x6o*cos(x2))/3116490942140383232 - (118
905973175996875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 (19431410744265625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808
- (121830929306938425*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/31164909421403
83232 - (10528363717249375*nl3*x1o*x4o*x6o*cos(x2))/389561367767547904 + (783986
6817960625*nl3*x1o*x4o*x6o*sin(2*x2))/389561367767547904 + (19330991128221875*nl
3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - 22539330069488
637935/6232981884280766464, (56901129654947295*x6o*sin(2*x2))/124659637685615329
28 - (4509371185864071451*x1o)/12465963768561532928 - (8284300427250286371*x4o)/
12465963768561532928 - (133642202781376125*nl3)/194780683883773952 + (6145262464
42680875*nl3*x1o)/1558245471070191616 - (210409642498381375*nl3*x4o)/15582454710
70191616 + (64339563081752813*x1o*x4o)/389561367767547904 + (603249054694967185*
x6o*cos(x2))/24931927537123065856 - (962868639724947025*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/24931927537123065856 - (536061341088209375*nl3*x6o*cos(x2))/623298188
4280766464 - (1615400122073404135*x1o*x6o*cos(x2))/24931927537123065856 - (93299
9731375128535*x4o*x6o*cos(x2))/24931927537123065856 - (41917381973530625*nl3*x6o
*sin(2*x2))/779122735535095808 + (1376424694931209785*x1o*x6o*sin(2*x2))/2493192
7537123065856 + (581771276804806865*x4o*x6o*sin(2*x2))/24931927537123065856 - (3
478539457256125*nl3*x1o*x4o)/389561367767547904 - (101807192605244375*nl3*x1o*x6
o*sin(2*x2))/3116490942140383232 - (216790836844766875*nl3*x4o*x6o*sin(2*x2))/31
16490942140383232 + (1189571665332445*x1o*x4o*x6o*sin(2*x2))/1558245471070191616
+ (87097068922140625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464
+ (1180024709633561025*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065
856 + (280793944431560225*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/249319275371230
65856 + (40378336724756875*nl3*x1o*x6o*cos(x2))/389561367767547904 + (1191686706
8673125*nl3*x4o*x6o*cos(x2))/389561367767547904 + (9241762888313095*x1o*x4o*x6o*
cos(x2))/6232981884280766464 - (85822333275103125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x
2)/2 + 1/2))/1558245471070191616 - (17751690316121875*nl3*x4o*x6o^2*sin(x2)*(cos
(2*x2)/2 + 1/2))/779122735535095808 - (180656971400645575*x1o*x4o*x6o^2*sin(x2)*
(cos(2*x2)/2 + 1/2))/6232981884280766464 - (16011220235366875*nl3*x1o*x4o*x6o*co
s(x2))/1558245471070191616 + (1442798018410625*nl3*x1o*x4o*x6o*sin(2*x2))/973903
41941886976 + (57461155287909375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/
1558245471070191616 + 4078643627412640839/6232981884280766464,
(45278644291762069*x4o)/48695170970943488 - (1408486712925042
1*x1o)/1558245471070191616 - (45930706508406375*nl3)/779122735535095808 + (36075
93705249565*x6o*sin(2*x2))/194780683883773952 + (2072094700673125*nl3*x1o)/38956
1367767547904 + (422181899820625*nl3*x4o)/389561367767547904 + (5906421465218331
3*x1o*x4o)/779122735535095808 - (33319127973868685*x6o*cos(x2))/6232981884280766
464 - (5769455849560075*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 +
(9750194724409375*nl3*x6o*cos(x2))/1558245471070191616 + (17503915481183285*x1o
*x6o*cos(x2))/1558245471070191616 - (53361165608537695*x4o*x6o*cos(x2))/31164909
42140383232 - (1737417924866875*nl3*x6o*sin(2*x2))/1558245471070191616 + (241675
44822446605*x1o*x6o*sin(2*x2))/3116490942140383232 + (81217942491802845*x4o*x6o*
sin(2*x2))/1558245471070191616 - (21099630891583875*nl3*x1o*x4o)/194780683883773

952 - (11646875150244375*nl3*x1o*x6o*sin(2*x2))/779122735535095808 - (9313163244

551875*nl3*x4o*x6o*sin(2*x2))/779122735535095808 - (14455133845531165*x1o*x4o*x6
o*sin(2*x2))/1558245471070191616 + (6697321754771875*nl3*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/1558245471070191616 - (284265594117025*x1o*x6o^2*sin(x2)*(cos(2*x2)/
2 + 1/2))/779122735535095808 + (78071464829929675*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/3116490942140383232 - (10893667063600625*nl3*x1o*x6o*cos(x2))/779122735
535095808 + (23616722571169375*nl3*x4o*x6o*cos(x2))/779122735535095808 + (120811
22049336015*x1o*x4o*x6o*cos(x2))/389561367767547904 - (1668674575478125*nl3*x1o*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (19770989548778125*nl3*x
4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (42967562512189625*x1
o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (18356086148720625
*nl3*x1o*x4o*x6o*cos(x2))/389561367767547904 + (2973061290730625*nl3*x1o*x4o*x6o
*sin(2*x2))/389561367767547904 + (25423347748771875*nl3*x1o*x4o*x6o^2*sin(x2)*(c
os(2*x2)/2 + 1/2))/389561367767547904 - 6310081396703028945/1558245471070191616,
(92939189818577515*x6o*sin(2*x2))/3116490942140383232 - (2698166094893537
11*x1o)/779122735535095808 - (326367721806464633*x4o)/779122735535095808 - (2648
9488706601625*nl3)/48695170970943488 + (14495295233028125*nl3*x1o)/4869517097094
3488 - (3512565283180375*nl3*x4o)/48695170970943488 + (83498900166624167*x1o*x4o
)/389561367767547904 + (24615038385129365*x6o*cos(x2))/3116490942140383232 - (15
3557670261228525*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (10528
486135378125*nl3*x6o*cos(x2))/194780683883773952 - (46368666101664875*x1o*x6o*co
s(x2))/1558245471070191616 - (56881463539464305*x4o*x6o*cos(x2))/155824547107019
1616 - (3360222035375625*nl3*x6o*sin(2*x2))/194780683883773952 + (12343893186201
8575*x1o*x6o*sin(2*x2))/1558245471070191616 + (190379745012484205*x4o*x6o*sin(2*
x2))/1558245471070191616 - (1607087697924125*nl3*x1o*x4o)/12173792742735872 - (5
225470339674375*nl3*x1o*x6o*sin(2*x2))/48695170970943488 - (3989637578390625*nl3
*x4o*x6o*sin(2*x2))/48695170970943488 - (4085864169074175*x1o*x4o*x6o*sin(2*x2))
/779122735535095808 + (2503510499890625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/4
8695170970943488 + (128326162109778375*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/15
58245471070191616 + (45794410180302425*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/15
58245471070191616 + (2677016890464375*nl3*x1o*x6o*cos(x2))/48695170970943488 + (
1239318850015625*nl3*x4o*x6o*cos(x2))/24347585485471744 + (22013640609047575*x1o
*x4o*x6o*cos(x2))/779122735535095808 - (10460467803865625*nl3*x1o*x6o^2*sin(x2)*
(cos(2*x2)/2 + 1/2))/97390341941886976 - (2791963519896875*nl3*x4o*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/97390341941886976 - (48103356827871075*x1o*x4o*x6o^2*sin(x
2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (2560503439929375*nl3*x1o*x4o*x6o*c
os(x2))/48695170970943488 + (639784112439375*nl3*x1o*x4o*x6o*sin(2*x2))/48695170
970943488 + (1740254060003125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/243
47585485471744 - 22594561419462310487/1558245471070191616,
(11012886261113125*nl3*x1o)/779122735535095808 - (146491039715439111*x
1o)/6232981884280766464 - (10397514714418731823*x4o)/6232981884280766464 - (3005
33863820866285*x6o*sin(2*x2))/24931927537123065856 - (48971857548000625*nl3)/155
8245471070191616 - (19625896298193375*nl3*x4o)/779122735535095808 - (73227854949
960517*x1o*x4o)/3116490942140383232 - (61581549957041195*x6o*cos(x2))/2493192753
7123065856 + (73934628864870925*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2493192753712
3065856 - (11745381060078125*nl3*x6o*cos(x2))/3116490942140383232 + (32211175395
736335*x1o*x6o*cos(x2))/12465963768561532928 + (191139733412695295*x4o*x6o*cos(x
2))/12465963768561532928 - (17412188181520625*nl3*x6o*sin(2*x2))/311649094214038
3232 + (76970613700272105*x1o*x6o*sin(2*x2))/12465963768561532928 - (39732087364
1502775*x4o*x6o*sin(2*x2))/12465963768561532928 + (36241835157944875*nl3*x1o*x4o
)/389561367767547904 + (584285374398125*nl3*x1o*x6o*sin(2*x2))/15582454710701916
16 - (5197784060239375*nl3*x4o*x6o*sin(2*x2))/1558245471070191616 + (11311270338
7312995*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 - (24834329884265625*nl3*x6o^
2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (121905583130371625*x1o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (382274062449592225*x4o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (1454023440899375*nl3*x
1o*x6o*cos(x2))/1558245471070191616 - (38849611576506875*nl3*x4o*x6o*cos(x2))/15
58245471070191616 - (208748010927844395*x1o*x4o*x6o*cos(x2))/6232981884280766464
+ (19612776645953125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/155824547107019
1616 + (57120612418140625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/15582454710

70191616 + (420761204838631525*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/623298

1884280766464 + (35912095708664375*nl3*x1o*x4o*x6o*cos(x2))/779122735535095808 (15856715157178125*nl3*x1o*x4o*x6o*sin(2*x2))/779122735535095808 - (64540906863
128125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - 35148
837602558982861/12465963768561532928,
(39517874742476375*nl3
)/48695170970943488 + (1295826511781037*x1o)/6086896371367936 - (369530673387023
041*x4o)/24347585485471744 - (102183724680463835*x6o*sin(2*x2))/3895613677675479
04 - (4349190409487375*nl3*x1o)/24347585485471744 + (1350726795359375*nl3*x4o)/2
4347585485471744 - (22437381927404757*x1o*x4o)/24347585485471744 + (540671691119
835*x6o*cos(x2))/12173792742735872 + (13303916990085825*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/389561367767547904 - (4459824486886875*nl3*x6o*cos(x2))/9739034194188
6976 - (8713131266778205*x1o*x6o*cos(x2))/97390341941886976 + (20399727413023665
*x4o*x6o*cos(x2))/97390341941886976 + (4313616449004375*nl3*x6o*sin(2*x2))/97390
341941886976 - (19527394992779095*x1o*x6o*sin(2*x2))/194780683883773952 - (13747
6206218668325*x4o*x6o*sin(2*x2))/194780683883773952 + (15987848384962625*nl3*x1o
*x4o)/12173792742735872 + (8301825939585625*nl3*x1o*x6o*sin(2*x2))/4869517097094
3488 + (7855857895869375*nl3*x4o*x6o*sin(2*x2))/48695170970943488 + (12585972504
736805*x1o*x4o*x6o*sin(2*x2))/97390341941886976 - (7253136033559375*nl3*x6o^2*si
n(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - (7316280616902625*x1o*x6o^2*sin(x
2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (57906048430610575*x4o*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (5174467830461875*nl3*x1o*x6o*cos(x2
))/48695170970943488 - (18051762707049375*nl3*x4o*x6o*cos(x2))/48695170970943488
- (18284883283084115*x1o*x4o*x6o*cos(x2))/48695170970943488 + (3623598755909375
*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (145817671730781
25*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (6442263667077
5725*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 + (13827607893
029375*nl3*x1o*x4o*x6o*cos(x2))/24347585485471744 - (2316075221104375*nl3*x1o*x4
o*x6o*sin(2*x2))/24347585485471744 - (19055812054503125*nl3*x1o*x4o*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/24347585485471744 + 663844429718783509/12173792742735872,
(680088219689707765*x6o*sin(2*x2))/24931927537123065856 - (124177797015136165*x
1o)/194780683883773952 - (3984224756273404441*x4o)/3116490942140383232 - (811800
325145896125*nl3)/779122735535095808 + (30150701032863625*nl3*x1o)/4869517097094
3488 - (74519365980396375*nl3*x4o)/389561367767547904 + (191758773343189687*x1o*
x4o)/779122735535095808 + (513034658343385305*x6o*cos(x2))/12465963768561532928
- (1541943504192562425*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 (407232372336360625*nl3*x6o*cos(x2))/3116490942140383232 - (308281483454759355*
x1o*x6o*cos(x2))/3116490942140383232 - (337136662095479935*x4o*x6o*cos(x2))/6232
981884280766464 - (297119028863033125*nl3*x6o*sin(2*x2))/3116490942140383232 + (
1064576991185668225*x1o*x6o*sin(2*x2))/12465963768561532928 + (55635259261969109
5*x4o*x6o*sin(2*x2))/12465963768561532928 - (4200452415491375*nl3*x1o*x4o)/97390
341941886976 - (85022763597708125*nl3*x1o*x6o*sin(2*x2))/1558245471070191616 - (
161882575165936875*nl3*x4o*x6o*sin(2*x2))/1558245471070191616 + (122557541434251
55*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 + (44837905953784375*nl3*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (1042295778459721975*x1o*x6o^2*s
in(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (196441701643232325*x4o*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (245875819377369375*nl3*x1o
*x6o*cos(x2))/1558245471070191616 + (68994436825220625*nl3*x4o*x6o*cos(x2))/1558
245471070191616 + (1893638205860345*x1o*x4o*x6o*cos(x2))/779122735535095808 - (1
9279266299421875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 (24689701920884375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/77912273553509580
8 - (252278857941189475*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280
766464 - (13015523749331875*nl3*x1o*x4o*x6o*cos(x2))/779122735535095808 + (15811
307182295625*nl3*x1o*x4o*x6o*sin(2*x2))/779122735535095808 + (10018045608203125*
nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + 189718060238
8343867/6232981884280766464, (66483328913044155*x6o*sin(2*x2))/62329818842807664
64 - (416693234312359113*x1o)/1558245471070191616 - (822788662308001717*x4o)/155
8245471070191616 - (4665483402720375*nl3)/12173792742735872 + (22635788034712375
*nl3*x1o)/97390341941886976 - (2102711416509375*nl3*x4o)/48695170970943488 + (10
1761432522847031*x1o*x4o)/779122735535095808 + (57933195650080295*x6o*cos(x2))/6
232981884280766464 - (225681738985424225*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232

981884280766464 - (4331235745373125*nl3*x6o*cos(x2))/97390341941886976 - (900570

50467362505*x1o*x6o*cos(x2))/3116490942140383232 - (67954306553216205*x4o*x6o*co
s(x2))/3116490942140383232 - (1632172476593125*nl3*x6o*sin(2*x2))/97390341941886
976 + (168524949463555375*x1o*x6o*sin(2*x2))/3116490942140383232 + (201531850955
879115*x4o*x6o*sin(2*x2))/3116490942140383232 - (3482693997913875*nl3*x1o*x4o)/4
8695170970943488 - (13686912171329375*nl3*x1o*x6o*sin(2*x2))/194780683883773952
- (2618165876479375*nl3*x4o*x6o*sin(2*x2))/48695170970943488 - (4563230401943505
*x1o*x4o*x6o*sin(2*x2))/1558245471070191616 + (1756057390078125*nl3*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (193801305755397975*x1o*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (51318945386500875*x4o*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (9547380744990625*nl3*x1o*x6o*cos(x2
))/194780683883773952 + (1420691694748125*nl3*x4o*x6o*cos(x2))/48695170970943488
+ (21931970793687675*x1o*x4o*x6o*cos(x2))/1558245471070191616 - (15532602665653
125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (16537519647
53125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - (5256888245
4723525*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (268442
2390794375*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 + (933385797458125*nl3*x1o
*x4o*x6o*sin(2*x2))/97390341941886976 + (3824732376965625*nl3*x1o*x4o*x6o^2*sin(
x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - 22848849429072404645/31164909421403
83232]
clear all
clc;
syms x1 x2 x3 x4 x5 x6 x7 u1 u2
global F
Acte=-0.7; Bcte=-0.2; I1=6.8e-2; I2=2e-2;
a1=0.0135; b1=0.0924; a2=0.02;
b2=0.09;
Mfg=0.32; B1phsi=6e-3; B1phi=1e-1; Kgy=0.05;
% %%Esta mas agrada mas
% % % funciona con relajacion y alfa=1e-3, da marginal sin relajacion y epsilon=
1e-3
% z5=[-0.4,0.4];%%x6*cos(x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4]
% z3=[0.827,1];%sin(x2)/x2, x2=[-pi/3 pi/3] Ampliando la region de modelado
% z4=[-0.4,0.4];%x6*sin(2x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4] ////
% z2=[-2,2];%x4
% z1=[-1.9,1.9];%x1
%%Nueva region
% % funciona con relajacion y alfa=1e-3, da marginal sin relajacion y epsilon=1e
-3
z5=[-0.4,0.4];%%x6*cos(x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4]
z3=[0.827,1];%sin(x2)/x2, x2=[-pi/3 pi/3] Ampliando la region de modelado
z4=[-0.4,0.4];%x6*sin(2x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4] ////
z2=[-0.5,0.5];%x4
z1=[-0.5,0.5];%x1
% z2=[-1,1];%x4
% z1=[-1,1];%x1
n=1;
for m=1:2
for l=1:2
for k=1:2
for j=1:2
for i=1:2
A{n}=[-1/1.2,
0,
0,
0,
0, 0,
0, 0, 0;
0,
0,

1,

0,

0, 0,

, 0, 0;
(b1+a1*z1(m))*((1-Kgy*z5(i))/I1),
0,
0, 0.0163*z4(j)/I1,

)/I1,
, 0 ,0;

-B1phsi/I1,

0,

-Mfg*z3(k
0
0,

0,

-1,

0, 0,

0,

0, 1,

, 0 ,0;
0,

0,

0,

, 0 ,0;
0,
0,

0,
(b2+a2*z2(l))/I2,

0, -B1phi/I2,

-1/I

2, 0, 0;
((Bcte/2))*(b1+a1*z1(m))-(Acte/1.2)*(b1/2+a1*z1(m)),
0,
0,
0, 0,

0,
-0.5, 0, 0;

0,1,0,0,0,0,0,0,0;
0,0,0,0,1,0,0,0,0];
B{n}=
[ 1.1/1.2,
0;
0,
0;
0,
0;
0,
0.8;
0,
0;
0,
0;
(1.1*Acte/1.2)*(b1/2+a1*z1(m)),
0,
0;
0,
0];
C{n}=[0 1 0 0 0 0 0 0 0;
0 0 0 0 1 0 0 0 0];
E{n}=[1;1];
D{n}=[0;0;0;0;0;0;0;0;0];
n=n+1;
end
end
end
end
end
[n m]=size(B{1});
r=numel(A);
setlmis([]);
miu=sqrt(2)*2.5;
miu2=miu*miu;
X0=[0;0.1;0;0;0.1;0;0;0;0];
%X0=[1;-0.2;0;1;-0.2;0;0;0;0];
epsilon=2.5e-3;
% % Se definen X y M dimensiones correspondientes.
gamma2=lmivar(1,[1 1]);
X=lmivar(1,[n 1]);
for i=1:r
M{i}=lmivar(2,[m n]);
end
lmix=newlmi; %LMI X=X'>0
lmiterm([-lmix 1 1 X],1,1);
%

0;

%
for j=1:r
lmi1=newlmi;
lmiterm([-lmi1 1 1 X],1,1);
lmiterm([-lmi1 2 1 M{j}],1,1);
lmiterm([-lmi1 2 2 0],miu2);
end
%LMI [I X0';X0 X]>0
lmi2=newlmi;
lmiterm([-lmi2 1 1 0],1);
lmiterm([-lmi2 2 1 0],X0);
lmiterm([-lmi2 2 2 X],1,1);
alfa=0.5;
for i=1:r
for j=1:r
lmix=newlmi; %Gama_ii
lmiterm([lmix 1 1 X],A{i},2/(r-1),'s');
lmiterm([lmix 1 1 M{i}],B{i},2/(r-1),'s');
lmiterm([lmix 1 1 X],alfa,2/(r-1));
lmiterm([lmix 1 1 0],epsilon*eye(n)*2/(r-1));
lmiterm([lmix 2 1 X],C{i},2/(r-1));
lmiterm([lmix 2 2 0],-2/(r-1));
lmiterm([lmix 3 1 0],(2/(r-1))*D{i}');
lmiterm([lmix 3 1 X],E{i}'*C{i},2/(r-1));
lmiterm([lmix 3 3 gamma2],-1,2/(r-1));
lmiterm([lmix 4 3 0],E{i}*(2/(r-1)));
lmiterm([lmix 4 4 0],-2/(r-1));
% Gama_ij
lmiterm([lmix 1 1 X],A{i},1,'s');
lmiterm([lmix 1 1 M{j}],B{i},1,'s');
lmiterm([lmix 1 1 0],epsilon*eye(n));
lmiterm([lmix 1 1 X],alfa,1);
lmiterm([lmix 2 1 X],C{i},1);
lmiterm([lmix 2 2 0],-1);
lmiterm([lmix 3 1 0],D{i}');
lmiterm([lmix 3 1 X],E{j}'*C{i},1);
lmiterm([lmix 3 3 gamma2],-1,1);
lmiterm([lmix 4 3 0],E{j});
lmiterm([lmix 4 4 0],-1);
% Gama_ji
lmiterm([lmix 1 1 X],A{j},1,'s');
lmiterm([lmix 1 1 M{i}],B{j},1,'s');
lmiterm([lmix 1 1 0],epsilon*eye(n));
lmiterm([lmix 1 1 X],alfa,1);
lmiterm([lmix 2 1 X],C{j},1);
lmiterm([lmix 2 2 0],-1);
lmiterm([lmix 3 1 0],D{j}');
lmiterm([lmix 3 1 X],E{i}'*C{j},1);
lmiterm([lmix 3 3 gamma2],-1,1);
lmiterm([lmix 4 3 0],E{i});
lmiterm([lmix 4 4 0],-1);
end
end
%Se obtienen la LMIs
lmis=getlmis;
c=[1 zeros(1,decnbr(lmis)-1)];
[copt,xopt]=mincx(lmis,c);

if not(isempty(copt))
X=dec2mat(lmis,xopt,X); P=inv(X);
for j=1:r
M{j}=dec2mat(lmis,xopt,M{j}); F{j}=M{j}*P;
end
gamma2=dec2mat(lmis,xopt,gamma2); gamma=sqrt(gamma2);
else
disp('no factible')
end
% % Prueba de valores propios
for i=1:r
for j=1:r
gama{i,j}=A{i}*X+B{i}*M{j}+(A{i}*X+B{i}*M{j}).';
end
end
var1=0; var2=0;
for i=1:r
for j=1:r
var1=var1+1; var2=var2+1;
ValPr1(var1)=max(eig((2/(r-1))*gama{i,i}+gama{i,j}+gama{j,i}));
ValPr2(var2)=max(eig(gama{i,j}));
end
end
figure
stem(ValPr1)
figure
stem(ValPr2)
max(ValPr1)
max(ValPr2)
eig(P)
min(eig(P))
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
F{:}
ans =
-4.2574
26.134
1.3875
53.548

-3.8359
-11.387
-1.4687
1.5535

-9.3123
-4.7471
1.1772
-5.683

-2.1562

-7.8664

-1.1464

-3.8374

-11.449

-2.037

-3.7375
-11.302
-1.4517
1.5773

-9.2284
-4.8951
1.1935
-5.6443

-2.2249

-8.0971

-1.1785

-3.8199

-11.386

-2.0278

-3.6266
-11.379
-1.6983

-9.2809
-3.9037
1.21

-1.8632

-6.5746

-1.0581

-3.8691

-11.61

-2.0555

ans =
-4.1806
26.868
1.3779
53.351
ans =
-4.2915
23.012
1.4952

53.888

1.6771

-5.7896

ans =
-4.2215
23.641
1.4927
53.885

-3.5197
-11.301
-1.7043
1.6909

-9.2049
-4.0292
1.2213
-5.7918

-1.9215

-6.7702

-1.0852

-3.8698

-11.613

-2.0546

-2.1929
-10.134
-1.8201
1.196

-8.3386
-4.6336
0.89771
-5.6725

-2.1104

-7.6701

-1.1293

-3.8293

-11.433

-2.0305

-2.2686
-10.107
-1.7492
1.1648

-8.3065
-4.8266
0.87836
-5.5641

-2.2005

-7.9767

-1.171

-3.7773

-11.26

-2.0054

-1.901
-10.126
-2.0709
1.3139

-8.3082
-3.6298
0.93274
-5.8879

-1.7519

-6.1282

-1.0014

-3.9085

-11.767

-2.0746

-1.8416
-10.048
-2.0801
1.2928

-8.2326
-3.7182
0.91485
-5.8734

-1.7947

-6.2671

-1.0206

-3.9009

-11.744

-2.0712

-3.7008
-11.394
-1.7418
1.5426

-9.3453
-4.2946
1.211
-6.3052

-1.9741

-7.1489

-1.0326

-4.5648

-12.43

-2.3498

-3.5847
-11.308
-1.7389
1.5695

-9.2618
-4.4002
1.228
-6.2785

-2.0238

-7.3126

-1.0534

-4.5527

-12.387

-2.3443

ans =
-3.8113
25.395
1.2283
53.517
ans =
-3.6795
26.37
1.1551
52.951
ans =
-3.8734
21.572
1.3674
54.371
ans =
-3.7796
22.023
1.3459
54.292
ans =
-4.292
23.956
1.4028
54.885
ans =
-4.219
24.485
1.3997
54.748
ans =

-4.3561
18.303
1.523
55.317

-3.3206
-11.338
-2.0645
1.6299

-9.2962
-2.9499
1.2142
-6.4273

-1.4786

-5.0738

-0.81557

-4.5994

-12.615

-2.3807

-3.1973
-11.264
-2.0983
1.6166

-9.2205
-3.0363
1.2002
-6.4092

-1.5194

-5.2073

-0.82948

-4.5906

-12.587

-2.3784

-2.0163
-10.127
-2.109
1.2505

-8.3614
-4.1021
0.97695
-6.3319

-1.8847

-6.8217

-1.0024

-4.577

-12.476

-2.3538

-2.034
-10.082
-2.0981
1.2389

-8.3151
-4.2187
0.96785
-6.2949

-1.9344

-7.0037

-1.0303

-4.5609

-12.417

-2.3455

-1.5845
-10.108
-2.4577
1.257

-8.3348
-2.5489
0.92228
-6.4865

-1.3007

-4.4216

-0.73096

-4.6243

-12.716

-2.3962

-1.5417
-10.066
-2.5029
1.2137

-8.2875
-2.5405
0.88512
-6.4455

-1.2982

-4.4082

-0.73025

-4.6058

-12.653

-2.3908

-4.2125
-11.425
-2.4382
0.59961

-9.4527
-4.5572
0.64011
-6.2027

-2.0366

-7.5651

-1.1489

-4.0526

-12.274

-2.1407

-4.1067
-11.381
-2.4089

-9.3922
-4.748
0.68448

-2.1247

-7.8639

-1.1897

-4.0338

-12.204

-2.1312

ans =
-4.2906
18.735
1.5167
55.221
ans =
-3.8495
22.759
1.2908
55.064
ans =
-3.7334
23.297
1.2606
54.886
ans =
-3.9468
16.116
1.4126
55.651
ans =
-3.8576
16.065
1.4034
55.45
ans =
-4.4735
24.433
1.3693
56.112
ans =
-4.4024
25.392
1.3739

55.895

0.66683

-6.1599

-4.0693
-11.423
-2.5673
0.81591

-9.4312
-3.7147
0.74855
-6.3323

-1.7488

-6.2778

-1.0693

-4.092

-12.466

-2.1591

-3.9522
-11.385
-2.5673
0.85298

-9.3753
-3.9064
0.76997
-6.2942

-1.8368

-6.5779

-1.1083

-4.075

-12.404

-2.1509

-2.4424
-10.239
-2.7474
0.33103

-8.5137
-4.5289
0.41566
-6.1663

-2.0341

-7.5023

-1.1416

-4.0328

-12.216

-2.1307

-2.3723
-10.163
-2.7084
0.38967

-8.4329
-4.7205
0.45676
-6.1204

-2.1231

-7.8028

-1.1842

-4.0119

-12.141

-2.12

-2.2676
-10.257
-2.902
0.50504

-8.5021
-3.6592
0.49611
-6.3354

-1.7394

-6.1745

-1.0484

-4.0869

-12.471

-2.1607

-2.1928
-10.2
-2.89
0.53921

-8.4348
-3.8213
0.51733
-6.3076

-1.8144

-6.4286

-1.083

-4.0739

-12.425

-2.1542

-4.2997
-11.595
-2.5159
0.77228

-9.589
-4.2704
0.79447
-6.7111

-1.9353

-7.1113

-1.0585

-4.7316

-13.073

-2.4231

ans =
-4.4938
21.376
1.4787
56.482
ans =
-4.428
22.332
1.48
56.29
ans =
-4.1081
24.122
1.248
55.971
ans =
-4.0127
25.085
1.2437
55.732
ans =
-4.1425
21
1.3592
56.505
ans =
-4.0578
21.812
1.3555
56.358
ans =
-4.5138
23.259
1.4072
56.917
ans =

-4.4435
23.817
1.4162
56.725

-4.1037
-11.497
-2.489
0.84883

-9.4937
-4.3823
0.84436
-6.6742

-1.9888

-7.2852

-1.0817

-4.7153

-13.013

-2.4159

-3.8158
-11.407
-2.718
0.99906

-9.4531
-2.9312
0.90125
-6.8336

-1.4437

-5.0431

-0.86013

-4.7608

-13.252

-2.452

-3.6861
-11.375
-2.7324
1.0276

-9.4038
-3.0677
0.91638
-6.8008

-1.5077

-5.2566

-0.88359

-4.7461

-13.2

-2.4461

-2.3855
-10.308
-2.8042
0.62411

-8.5794
-4.1622
0.65584
-6.694

-1.8816

-6.9137

-1.0519

-4.7265

-13.047

-2.4172

-2.2971
-10.236
-2.7781
0.68389

-8.5041
-4.29
0.69674
-6.6629

-1.9419

-7.1133

-1.0778

-4.7127

-12.996

-2.4105

-2.0176
-10.251
-3.0409
0.7674

-8.531
-2.8181
0.70936
-6.8436

-1.3935

-4.8426

-0.83886

-4.7654

-13.271

-2.4538

-1.9238
-10.198
-3.0483
0.78804

-8.4686
-2.9155
0.71976
-6.819

-1.4396

-4.9945

-0.85585

-4.7545

-13.232

-2.4492

ans =
-4.5511
17.589
1.5397
57.25
ans =
-4.4913
18.286
1.5423
57.084
ans =
-4.141
22.371
1.3379
56.902
ans =
-4.0526
23.023
1.339
56.74
ans =
-4.2018
16.781
1.4624
57.355
ans =
-4.1236
17.278
1.4604
57.231

clear all
clc;
syms x1 x2 x3 x4 x5 x6 x7 u1 u2
global F
Acte=-0.7; Bcte=-0.2;

I1=6.8e-2; I2=2e-2;

a1=0.0135; b1=0.0924; a2=0.02;

b2=0.09;
Mfg=0.32; B1phsi=6e-3; B1phi=1e-1; Kgy=0.05;
% %%Esta mas agrada mas
% % % funciona con relajacion y alfa=1e-3, da marginal sin relajacion y epsilon=
1e-3
% z5=[-0.4,0.4];%%x6*cos(x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4]
% z3=[0.827,1];%sin(x2)/x2, x2=[-pi/3 pi/3] Ampliando la region de modelado
% z4=[-0.4,0.4];%x6*sin(2x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4] ////
% z2=[-2,2];%x4
% z1=[-1.9,1.9];%x1
%%Nueva region
% % funciona con relajacion y alfa=1e-3, da marginal sin relajacion y epsilon=1e
-3
z5=[-0.4,0.4];%%x6*cos(x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4]
z3=[0.827,1];%sin(x2)/x2, x2=[-pi/3 pi/3] Ampliando la region de modelado
z4=[-0.4,0.4];%x6*sin(2x2) x2=[-pi/3 pi/3], x6=[-0.4 0.4] ////
z2=[-0.5,0.5];%x4
z1=[-0.5,0.5];%x1
% z2=[-1,1];%x4
% z1=[-1,1];%x1
n=1;
for m=1:2
for l=1:2
for k=1:2
for j=1:2
for i=1:2
A{n}=[-1/1.2,
0,
0,
0,
0, 0,
0, 0, 0;
0,
0,
1,
0,
0, 0,
0
, 0, 0;
(b1+a1*z1(m))*((1-Kgy*z5(i))/I1),
-Mfg*z3(k
)/I1,
-B1phsi/I1,
0,
0, 0.0163*z4(j)/I1,
0
, 0 ,0;
0,
0,
0,
-1,
0, 0,
0
, 0 ,0;
0,
0,
0,
0,
0, 1,
0
, 0 ,0;
0,
0,
0,
(b2+a2*z2(l))/I2, 0, -B1phi/I2,
-1/I
2, 0, 0;
((Bcte/2))*(b1+a1*z1(m))-(Acte/1.2)*(b1/2+a1*z1(m)),
0,
0,
0,
0, 0,
-0.5, 0, 0;
0,1,0,0,0,0,0,0,0;
0,0,0,0,1,0,0,0,0];
B{n}=
[ 1.1/1.2,
0;
0,
0;
0,
0;
0,
0.8;
0,
0;
0,
0;
(1.1*Acte/1.2)*(b1/2+a1*z1(m)),
0,
0;

0;

0,
0];
C{n}=[0 1 0 0 0 0 0 0 0;
0 0 0 0 1 0 0 0 0];
E{n}=[1;1];
D{n}=[0;0;0;0;0;0;0;0;0];
n=n+1;
end
end
end
end
end
[n m]=size(B{1});
r=numel(A);
setlmis([]);
miu=sqrt(2)*2.5;
miu2=miu*miu;
X0=[0;0.001;0;0;0.001;0;0;0;0];
%X0=[1;-0.2;0;1;-0.2;0;0;0;0];
epsilon=2.5e-3;
% % Se definen X y M dimensiones correspondientes.
gamma2=lmivar(1,[1 1]);
X=lmivar(1,[n 1]);
for i=1:r
M{i}=lmivar(2,[m n]);
end
lmix=newlmi; %LMI X=X'>0
lmiterm([-lmix 1 1 X],1,1);
%
%
for j=1:r
lmi1=newlmi;
lmiterm([-lmi1 1 1 X],1,1);
lmiterm([-lmi1 2 1 M{j}],1,1);
lmiterm([-lmi1 2 2 0],miu2);
end
%LMI [I X0';X0 X]>0
lmi2=newlmi;
lmiterm([-lmi2 1 1 0],1);
lmiterm([-lmi2 2 1 0],X0);
lmiterm([-lmi2 2 2 X],1,1);
alfa=0.9;
for i=1:r
for j=1:r
lmix=newlmi; %Gama_ii
lmiterm([lmix 1 1 X],A{i},2/(r-1),'s');
lmiterm([lmix 1 1 M{i}],B{i},2/(r-1),'s');
lmiterm([lmix 1 1 X],alfa,2/(r-1));
lmiterm([lmix 1 1 0],epsilon*eye(n)*2/(r-1));
lmiterm([lmix 2 1 X],C{i},2/(r-1));
lmiterm([lmix 2 2 0],-2/(r-1));
lmiterm([lmix 3 1 0],(2/(r-1))*D{i}');
lmiterm([lmix
lmiterm([lmix
lmiterm([lmix
lmiterm([lmix

3
3
4
4

1
3
3
4

X],E{i}'*C{i},2/(r-1));
gamma2],-1,2/(r-1));
0],E{i}*(2/(r-1)));
0],-2/(r-1));

% Gama_ij
lmiterm([lmix 1 1 X],A{i},1,'s');
lmiterm([lmix 1 1 M{j}],B{i},1,'s');
lmiterm([lmix 1 1 0],epsilon*eye(n));
lmiterm([lmix 1 1 X],alfa,1);
lmiterm([lmix 2 1 X],C{i},1);
lmiterm([lmix 2 2 0],-1);
lmiterm([lmix 3 1 0],D{i}');
lmiterm([lmix 3 1 X],E{j}'*C{i},1);
lmiterm([lmix 3 3 gamma2],-1,1);
lmiterm([lmix 4 3 0],E{j});
lmiterm([lmix 4 4 0],-1);
% Gama_ji
lmiterm([lmix 1 1 X],A{j},1,'s');
lmiterm([lmix 1 1 M{i}],B{j},1,'s');
lmiterm([lmix 1 1 0],epsilon*eye(n));
lmiterm([lmix 1 1 X],alfa,1);
lmiterm([lmix 2 1 X],C{j},1);
lmiterm([lmix 2 2 0],-1);
lmiterm([lmix 3 1 0],D{j}');
lmiterm([lmix 3 1 X],E{i}'*C{j},1);
lmiterm([lmix 3 3 gamma2],-1,1);
lmiterm([lmix 4 3 0],E{i});
lmiterm([lmix 4 4 0],-1);
end
end
%Se obtienen la LMIs
lmis=getlmis;
c=[1 zeros(1,decnbr(lmis)-1)];
[copt,xopt]=mincx(lmis,c);
if not(isempty(copt))
X=dec2mat(lmis,xopt,X); P=inv(X);
for j=1:r
M{j}=dec2mat(lmis,xopt,M{j}); F{j}=M{j}*P;
end
gamma2=dec2mat(lmis,xopt,gamma2); gamma=sqrt(gamma2);
else
disp('no factible')
end
% % Prueba de valores propios
for i=1:r
for j=1:r
gama{i,j}=A{i}*X+B{i}*M{j}+(A{i}*X+B{i}*M{j}).';
end
end
var1=0; var2=0;
for i=1:r
for j=1:r
var1=var1+1; var2=var2+1;
ValPr1(var1)=max(eig((2/(r-1))*gama{i,i}+gama{i,j}+gama{j,i}));
ValPr2(var2)=max(eig(gama{i,j}));
end
end
figure
stem(ValPr1)

figure
stem(ValPr2)
max(ValPr1)
max(ValPr2)
eig(P)
min(eig(P))
F=[
(1839427217279368625*nl3)/7791227355350958
08 + (497428488485304265*x1o)/3116490942140383232 - (97815111535699899*x4o)/3116
490942140383232 + (1692002377478648365*x6o*sin(2*x2))/12465963768561532928 - (17
4612542597589625*nl3*x1o)/389561367767547904 - (9273194962321125*nl3*x4o)/389561
367767547904 - (74181380902189553*x1o*x4o)/1558245471070191616 - (10197206927297
81835*x6o*cos(x2))/12465963768561532928 + (2309517056060052175*x6o^2*sin(x2)*(co
s(2*x2)/2 + 1/2))/12465963768561532928 + (316720195527096875*nl3*x6o*cos(x2))/15
58245471070191616 + (576967442400131615*x1o*x6o*cos(x2))/6232981884280766464 + (
146041591408247795*x4o*x6o*cos(x2))/6232981884280766464 - (356361150145070625*nl
3*x6o*sin(2*x2))/1558245471070191616 - (706170073014361705*x1o*x6o*sin(2*x2))/62
32981884280766464 - (83524536631463825*x4o*x6o*sin(2*x2))/6232981884280766464 +
(11492809426285125*nl3*x1o*x4o)/194780683883773952 + (130220070467200625*nl3*x1o
*x6o*sin(2*x2))/779122735535095808 - (16740365178704375*nl3*x4o*x6o*sin(2*x2))/7
79122735535095808 + (177919735166645005*x1o*x4o*x6o*sin(2*x2))/31164909421403832
32 - (393171624128009375*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191
616 - (2144590849035239475*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/62329818842807
66464 - (866367107774560875*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280
766464 - (92621830421276875*nl3*x1o*x6o*cos(x2))/779122735535095808 - (265279735
22474375*nl3*x4o*x6o*cos(x2))/779122735535095808 - (46822384277217735*x1o*x4o*x6
o*cos(x2))/3116490942140383232 + (321800565611834375*nl3*x1o*x6o^2*sin(x2)*(cos(
2*x2)/2 + 1/2))/779122735535095808 + (122526262500884375*nl3*x4o*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/779122735535095808 + (244689764222809775*x1o*x4o*x6o^2*sin(x
2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (7498768722189375*nl3*x1o*x4o*x6o*
cos(x2))/389561367767547904 - (20545732996790625*nl3*x1o*x4o*x6o*sin(2*x2))/3895
61367767547904 - (43593658013434375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2
))/389561367767547904 - 39402357489249885277/6232981884280766464, (1547502052176
9438875*nl3)/1558245471070191616 - (7385589693818895729*x1o)/6232981884280766464
- (164817651279398057*x4o)/6232981884280766464 + (2909122016458898815*x6o*sin(2
*x2))/24931927537123065856 + (677914896844351875*nl3*x1o)/779122735535095808 + (
184103628654731875*nl3*x4o)/779122735535095808 - (763575511128410513*x1o*x4o)/31
16490942140383232 + (16112958697844706975*x6o*cos(x2))/24931927537123065856 - (2
3583978677598357825*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 - (1
850653073786998125*nl3*x6o*cos(x2))/3116490942140383232 - (3585094184738300785*x
1o*x6o*cos(x2))/12465963768561532928 + (1617218410449486695*x4o*x6o*cos(x2))/124
65963768561532928 + (969878235931174375*nl3*x6o*sin(2*x2))/3116490942140383232 +
(10299218610854886375*x1o*x6o*sin(2*x2))/12465963768561532928 + (10239126385542
296815*x4o*x6o*sin(2*x2))/12465963768561532928 + (58792431770873875*nl3*x1o*x4o)
/389561367767547904 - (1554060995899780625*nl3*x1o*x6o*sin(2*x2))/15582454710701
91616 - (991667234821480625*nl3*x4o*x6o*sin(2*x2))/1558245471070191616 + (254315
8408397775135*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 + (3449101730163459375*
nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (933765571268840837
5*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (201568634225255
6225*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (603143812539
066875*nl3*x1o*x6o*cos(x2))/1558245471070191616 - (163780429338253125*nl3*x4o*x6
o*cos(x2))/1558245471070191616 + (1624137720646360415*x1o*x4o*x6o*cos(x2))/62329
81884280766464 - (1619053566609415625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))
/1558245471070191616 + (72281540508734375*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/1558245471070191616 - (15590194078660243825*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/6232981884280766464 - (205003774197173125*nl3*x1o*x4o*x6o*cos(x2))/7
79122735535095808 - (229388439926350625*nl3*x1o*x4o*x6o*sin(2*x2))/7791227355350
95808 + (2131735606158134375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/7791
22735535095808 - 149729158562481463345/12465963768561532928,
(1075938728195774375*nl3)/194780683883773952 - (12121990124935789

3*x1o)/779122735535095808 - (71540025816413879*x4o)/779122735535095808 + (565629

565740066925*x6o*sin(2*x2))/3116490942140383232 - (2887973118419375*nl3*x1o)/973
90341941886976 + (5137274632985125*nl3*x4o)/97390341941886976 - (669625948428240
89*x1o*x4o)/389561367767547904 + (498656451972427655*x6o*cos(x2))/31164909421403
83232 - (1142846461780963425*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383
232 - (32682607258958125*nl3*x6o*cos(x2))/389561367767547904 - (3604927000477267
75*x1o*x6o*cos(x2))/1558245471070191616 + (135055498730015255*x4o*x6o*cos(x2))/1
558245471070191616 - (55363297370270625*nl3*x6o*sin(2*x2))/389561367767547904 +
(485455818042009155*x1o*x6o*sin(2*x2))/1558245471070191616 + (571182316596649845
*x4o*x6o*sin(2*x2))/1558245471070191616 + (7311029909197375*nl3*x1o*x4o)/4869517
0970943488 - (64624299340579375*nl3*x1o*x6o*sin(2*x2))/194780683883773952 - (699
30539106386875*nl3*x4o*x6o*sin(2*x2))/194780683883773952 + (137464454854068295*x
1o*x4o*x6o*sin(2*x2))/779122735535095808 + (148335225825096875*nl3*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/389561367767547904 + (334895176967372325*x1o*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (93376565496358225*x4o*x6o^2*sin(x2)
*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (50202906079153125*nl3*x1o*x6o*cos(x
2))/194780683883773952 - (18376990822421875*nl3*x4o*x6o*cos(x2))/194780683883773
952 + (72785795292846325*x1o*x4o*x6o*cos(x2))/779122735535095808 - (634228805654
96875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (108949606
1096875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (1084030
952282432375*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (88
73981762970625*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 - (9612705389575625*nl
3*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (148609760402309375*nl3*x1o*x4o*x6o
^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - 21701758106973807407/1558245
471070191616, (321154532859550125*nl3)/779122735535095808 + (692746776530932027*
x1o)/1558245471070191616 - (48134061754798731*x4o)/3116490942140383232 + (208711
2811497164665*x6o*sin(2*x2))/12465963768561532928 - (177668279920201125*nl3*x1o)
/389561367767547904 + (127462596662334625*nl3*x4o)/389561367767547904 + (4533256
4538368767*x1o*x4o)/1558245471070191616 - (194833381355675965*x6o*cos(x2))/15582
45471070191616 - (5432867799590395725*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1246596
3768561532928 + (42550454143681875*nl3*x6o*cos(x2))/779122735535095808 - (749446
6301072685*x1o*x6o*cos(x2))/3116490942140383232 - (264025463274949405*x4o*x6o*co
s(x2))/6232981884280766464 + (610315053217181875*nl3*x6o*sin(2*x2))/155824547107
0191616 + (3097661262381967575*x1o*x6o*sin(2*x2))/6232981884280766464 + (5813732
43093326985*x4o*x6o*sin(2*x2))/3116490942140383232 - (24428429659056375*nl3*x1o*
x4o)/194780683883773952 - (482307763887683125*nl3*x1o*x6o*sin(2*x2))/77912273553
5095808 + (59922485969271875*nl3*x4o*x6o*sin(2*x2))/779122735535095808 + (709405
18960122435*x1o*x4o*x6o*sin(2*x2))/389561367767547904 + (417206138038503125*nl3*
x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (1653428237836656125*x1o
*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (461312723265574725*x4
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (629033286101875*nl3*
x1o*x6o*cos(x2))/24347585485471744 + (8481385232518125*nl3*x4o*x6o*cos(x2))/9739
0341941886976 + (509160304197365025*x1o*x4o*x6o*cos(x2))/3116490942140383232 - (
146681443417584375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904
+ (3798823004096875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2434758548547174
4 - (38328506858719075*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/38956136776754
7904 - (17616502743793125*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 - (87684702
218096875*nl3*x1o*x4o*x6o*sin(2*x2))/389561367767547904 + (16317615994815625*nl3
*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - 343186147578321
3625/1558245471070191616, (321041558372350625*nl3)/194780683883773952 + (2205799
786747035909*x1o)/1558245471070191616 + (399502909012563683*x4o)/155824547107019
1616 + (5344260825540236305*x6o*sin(2*x2))/6232981884280766464 - (15095050533817
9375*nl3*x1o)/97390341941886976 + (89842033946954625*nl3*x4o)/97390341941886976
+ (150096198702800153*x1o*x4o)/779122735535095808 - (2548469221969239925*x6o*cos
(x2))/6232981884280766464 - (9954440843959499375*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/6232981884280766464 + (2086004014688125*nl3*x6o*cos(x2))/12173792742735872 (121820216213066475*x1o*x6o*cos(x2))/3116490942140383232 - (316646351624824065*
x4o*x6o*cos(x2))/3116490942140383232 + (587473287032539375*nl3*x6o*sin(2*x2))/38
9561367767547904 + (5582794630660539515*x1o*x6o*sin(2*x2))/3116490942140383232 +
(2321350529527495885*x4o*x6o*sin(2*x2))/3116490942140383232 - (2572759538882762

5*nl3*x1o*x4o)/48695170970943488 - (431410465746539375*nl3*x1o*x6o*sin(2*x2))/19
4780683883773952 + (51645910578153125*nl3*x4o*x6o*sin(2*x2))/194780683883773952
+ (978712602678045335*x1o*x4o*x6o*sin(2*x2))/1558245471070191616 + (118946614357
40625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6086896371367936 + (326607983321472
6375*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (1895485103027
588275*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (50763173800
93125*nl3*x1o*x6o*cos(x2))/97390341941886976 + (12251047228691875*nl3*x4o*x6o*co
s(x2))/48695170970943488 + (807926671484221385*x1o*x4o*x6o*cos(x2))/155824547107
0191616 - (17868912627059375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12173792
742735872 + (63629208395096875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/973903
41941886976 - (330022228722043725*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/155
8245471070191616 - (6873569778975625*nl3*x1o*x4o*x6o*cos(x2))/12173792742735872
- (76768162011239375*nl3*x1o*x4o*x6o*sin(2*x2))/97390341941886976 + (15744087178
65625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12173792742735872 - 2509577
1130163155873/3116490942140383232, (141130714364757625*nl3)/779122735535095808 +
(1658620255521475975*x1o)/12465963768561532928 + (1450137392027522875*x4o)/1246
5963768561532928 - (1945061394654186085*x6o*sin(2*x2))/49863855074246131712 - (1
48999353896414125*nl3*x1o)/779122735535095808 + (12919890301166875*nl3*x4o)/1947
80683883773952 + (511436313126621171*x1o*x4o)/6232981884280766464 - (21698272916
13578225*x6o*cos(x2))/49863855074246131712 - (9670474273351426525*x6o^2*sin(x2)*
(cos(2*x2)/2 + 1/2))/49863855074246131712 + (34200060299285625*nl3*x6o*cos(x2))/
3116490942140383232 - (264980003508650105*x1o*x6o*cos(x2))/24931927537123065856
+ (62032298567657275*x4o*x6o*cos(x2))/24931927537123065856 + (420930771596583125
*nl3*x6o*sin(2*x2))/1558245471070191616 + (5285079862280648635*x1o*x6o*sin(2*x2)
)/24931927537123065856 + (2398185360847546935*x4o*x6o*sin(2*x2))/249319275371230
65856 - (51004057196378375*nl3*x1o*x4o)/389561367767547904 - (437713645520580625
*nl3*x1o*x6o*sin(2*x2))/1558245471070191616 + (13754874251371875*nl3*x4o*x6o*sin
(2*x2))/194780683883773952 + (877495686525271375*x1o*x4o*x6o*sin(2*x2))/12465963
768561532928 + (770199699558215625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/311649
0942140383232 + (4012495128179365675*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2493
1927537123065856 - (1329376369619160825*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2
4931927537123065856 + (454127600240625*nl3*x1o*x6o*cos(x2))/779122735535095808 +
(29249736472964375*nl3*x4o*x6o*cos(x2))/1558245471070191616 + (3603647176666544
75*x1o*x4o*x6o*cos(x2))/12465963768561532928 - (166800691480690625*nl3*x1o*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (100202482403221875*nl3*x4o*x
6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (103001813449863575*x1o*
x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 - (5551306450936875*
nl3*x1o*x4o*x6o*cos(x2))/194780683883773952 - (80376820051134375*nl3*x1o*x4o*x6o
*sin(2*x2))/779122735535095808 - (4850701605665625*nl3*x1o*x4o*x6o^2*sin(x2)*(co
s(2*x2)/2 + 1/2))/194780683883773952 - 29600702774486305193/24931927537123065856
, (114772666201154875*nl3*x1o)/24347585485471744 - (969935708052345437*x1o)/1947
80683883773952 - (28802741988589225*x4o)/194780683883773952 - (15317493255198819
65*x6o*sin(2*x2))/779122735535095808 - (145591975309130875*nl3)/2434758548547174
4 - (10843980022971625*nl3*x4o)/3043448185683968 - (6066934579844877*x1o*x4o)/24
347585485471744 + (1049729099007054775*x6o*cos(x2))/779122735535095808 + (194647
8592270557375*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (575669046
58110625*nl3*x6o*cos(x2))/97390341941886976 + (855111061406975*x1o*x6o*cos(x2))/
48695170970943488 + (81986708088004695*x4o*x6o*cos(x2))/194780683883773952 - (41
3789386029030625*nl3*x6o*sin(2*x2))/97390341941886976 - (551314060460216205*x1o*
x6o*sin(2*x2))/97390341941886976 - (468993207214053835*x4o*x6o*sin(2*x2))/194780
683883773952 + (16898862156052625*nl3*x1o*x4o)/12173792742735872 + (853279351983
08125*nl3*x1o*x6o*sin(2*x2))/12173792742735872 - (44742856569663125*nl3*x4o*x6o*
sin(2*x2))/48695170970943488 - (467681061186293945*x1o*x4o*x6o*sin(2*x2))/194780
683883773952 - (297344956634053125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/486951
70970943488 - (1159267316139751325*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561
367767547904 + (729371641476642575*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561
367767547904 + (1817737976059375*nl3*x1o*x6o*cos(x2))/6086896371367936 - (443173
33700724375*nl3*x4o*x6o*cos(x2))/48695170970943488 - (362057035227470805*x1o*x4o
*x6o*cos(x2))/194780683883773952 + (206295452199546875*nl3*x1o*x6o^2*sin(x2)*(co
s(2*x2)/2 + 1/2))/48695170970943488 - (48201078301696875*nl3*x4o*x6o^2*sin(x2)*(

cos(2*x2)/2 + 1/2))/24347585485471744 + (75160555978097325*x1o*x4o*x6o^2*sin(x2)

*(cos(2*x2)/2 + 1/2))/48695170970943488 + (24996413175205625*nl3*x1o*x4o*x6o*cos
(x2))/12173792742735872 + (17530695334033125*nl3*x1o*x4o*x6o*sin(2*x2))/60868963
71367936 - (32959028035028125*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/243
47585485471744 + 5365525444743221379/194780683883773952,
(85803961020776625*nl3)/12173792742735872 + (16324566999832341*
x1o)/389561367767547904 - (7805982643823031*x4o)/97390341941886976 + (2656676494
3642325*x6o*sin(2*x2))/97390341941886976 - (8468613036503875*nl3*x1o)/4869517097
0943488 + (1648420730978375*nl3*x4o)/24347585485471744 - (53232900284336573*x1o*
x4o)/194780683883773952 + (116090590774603455*x6o*cos(x2))/779122735535095808 (346701792736973475*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (383
5240427735625*nl3*x6o*cos(x2))/48695170970943488 - (231906496035320905*x1o*x6o*c
os(x2))/779122735535095808 + (1499926526583725*x4o*x6o*cos(x2))/1217379274273587
2 - (48845348019080625*nl3*x6o*sin(2*x2))/194780683883773952 + (3547946626859791
35*x1o*x6o*sin(2*x2))/779122735535095808 + (214726917772965025*x4o*x6o*sin(2*x2)
)/389561367767547904 + (5648834064913625*nl3*x1o*x4o)/24347585485471744 - (28910
49338208125*nl3*x1o*x6o*sin(2*x2))/6086896371367936 - (50071000984531875*nl3*x4o
*x6o*sin(2*x2))/97390341941886976 + (105776423659975955*x1o*x4o*x6o*sin(2*x2))/3
89561367767547904 + (88294178541571875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19
4780683883773952 + (111371423592688625*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/77
9122735535095808 - (73556379930072925*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389
561367767547904 + (30988789715858125*nl3*x1o*x6o*cos(x2))/97390341941886976 - (6
421169681938125*nl3*x4o*x6o*cos(x2))/48695170970943488 + (57796769701771035*x1o*
x4o*x6o*cos(x2))/389561367767547904 - (1681019260946875*nl3*x1o*x6o^2*sin(x2)*(c
os(2*x2)/2 + 1/2))/6086896371367936 + (10316283720840625*nl3*x4o*x6o^2*sin(x2)*(
cos(2*x2)/2 + 1/2))/97390341941886976 - (702118346370180325*x1o*x4o*x6o^2*sin(x2
)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (6888791577491875*nl3*x1o*x4o*x6o*co
s(x2))/48695170970943488 - (1942960411450625*nl3*x1o*x4o*x6o*sin(2*x2))/12173792
742735872 + (24019247609559375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12
173792742735872 - 3352954799328820683/194780683883773952, (379976080558028875*nl
3)/389561367767547904 + (706433186682273039*x1o)/779122735535095808 + (358764467
84134135*x4o)/194780683883773952 + (1760515290546502585*x6o*sin(2*x2))/311649094
2140383232 - (24198208504982625*nl3*x1o)/24347585485471744 + (108799328905920625
*nl3*x4o)/194780683883773952 + (24406882004512373*x1o*x4o)/194780683883773952 (415847509188306655*x6o*cos(x2))/1558245471070191616 - (392822151675007625*x6o^2
*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + (22505503367554375*nl3*x6o*co
s(x2))/194780683883773952 - (1588938511586025*x1o*x6o*cos(x2))/97390341941886976
- (95562155421723475*x4o*x6o*cos(x2))/1558245471070191616 + (756697346087149375
*nl3*x6o*sin(2*x2))/779122735535095808 + (1767802159193869965*x1o*x6o*sin(2*x2))
/1558245471070191616 + (363322629463000735*x4o*x6o*sin(2*x2))/779122735535095808
- (257779749832125*nl3*x1o*x4o)/760862046420992 - (68272010792443125*nl3*x1o*x6
o*sin(2*x2))/48695170970943488 + (70200873645183125*nl3*x4o*x6o*sin(2*x2))/38956
1367767547904 + (19498773232386675*x1o*x4o*x6o*sin(2*x2))/48695170970943488 + (2
40488179568953125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (5
13297656149989025*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (6
26322384240748725*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 - (
16666538924598125*nl3*x1o*x6o*cos(x2))/389561367767547904 + (1894258813636875*nl
3*x4o*x6o*cos(x2))/12173792742735872 + (251488683952880025*x1o*x4o*x6o*cos(x2))/
779122735535095808 - (359795056251090625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/
2))/389561367767547904 + (5297728429565625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/12173792742735872 - (61540914532426925*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/779122735535095808 - (68310032542821875*nl3*x1o*x4o*x6o*cos(x2))/1947806
83883773952 - (12328726040899375*nl3*x1o*x4o*x6o*sin(2*x2))/24347585485471744 +
(3562635909965625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773
952 - 7473773289138336041/1558245471070191616;
(1220415901293204305*x6o*sin(2*x2))/24931927537123065856 - (1220430487706759813
*x1o)/6232981884280766464 - (1157696999076229281*x4o)/6232981884280766464 - (108
8023093336135625*nl3)/1558245471070191616 + (185866167736745625*nl3*x1o)/7791227
35535095808 + (209391964322728375*nl3*x4o)/779122735535095808 + (597725036478075
45*x1o*x4o)/3116490942140383232 + (2577276064701641845*x6o*cos(x2))/249319275371

23065856 - (7197925014470095975*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/2493192753712

3065856 - (391894000710054375*nl3*x6o*cos(x2))/3116490942140383232 - (1451172331
806284005*x1o*x6o*cos(x2))/12465963768561532928 - (973890260185766825*x4o*x6o*co
s(x2))/12465963768561532928 + (365278289618706875*nl3*x6o*sin(2*x2))/31164909421
40383232 + (2671404536819000295*x1o*x6o*sin(2*x2))/12465963768561532928 + (20935
46174309113115*x4o*x6o*sin(2*x2))/12465963768561532928 + (4455791751240125*nl3*x
1o*x4o)/389561367767547904 - (395229206383901875*nl3*x1o*x6o*sin(2*x2))/15582454
71070191616 - (282346538682450625*nl3*x4o*x6o*sin(2*x2))/1558245471070191616 - (
1002326153072786595*x1o*x4o*x6o*sin(2*x2))/6232981884280766464 + (10706429610489
65625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (550895557212
2103975*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (168782719
4901377075*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12465963768561532928 + (242314
001192251875*nl3*x1o*x6o*cos(x2))/1558245471070191616 + (152179315021385625*nl3*
x4o*x6o*cos(x2))/1558245471070191616 + (962200727082934345*x1o*x4o*x6o*cos(x2))/
6232981884280766464 - (871972414273928125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1
/2))/1558245471070191616 - (294914849717821875*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/
2 + 1/2))/1558245471070191616 - (1684487725162796275*x1o*x4o*x6o^2*sin(x2)*(cos(
2*x2)/2 + 1/2))/6232981884280766464 - (143658967100575625*nl3*x1o*x4o*x6o*cos(x2
))/779122735535095808 + (168159555534173125*nl3*x1o*x4o*x6o*sin(2*x2))/779122735
535095808 + (276062699672546875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/7
79122735535095808 + 25276260397883533005/12465963768561532928,
(30886781531551125
*nl3*x1o)/97390341941886976 - (834492535586701005*x1o)/779122735535095808 - (138
776281470117913*x4o)/779122735535095808 - (269585387444642795*x6o*sin(2*x2))/311
6490942140383232 - (380248894901187875*nl3)/194780683883773952 - (54328613254533
75*nl3*x4o)/97390341941886976 + (257827097765541*x1o*x4o)/389561367767547904 - (
164516614394862705*x6o*cos(x2))/3116490942140383232 + (455409546531922375*x6o^2*
sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 + (26476442290818125*nl3*x6o*co
s(x2))/389561367767547904 + (75906373447456525*x1o*x6o*cos(x2))/1558245471070191
616 + (133373554543002405*x4o*x6o*cos(x2))/1558245471070191616 - (98892547800659
375*nl3*x6o*sin(2*x2))/389561367767547904 + (68392183158018955*x1o*x6o*sin(2*x2)
)/1558245471070191616 - (209880048977017025*x4o*x6o*sin(2*x2))/15582454710701916
16 + (12428924838282125*nl3*x1o*x4o)/48695170970943488 + (21403371620228125*nl3*
x1o*x6o*sin(2*x2))/194780683883773952 + (5394700220940625*nl3*x4o*x6o*sin(2*x2))
/194780683883773952 + (115958943998806445*x1o*x4o*x6o*sin(2*x2))/779122735535095
808 - (116788459106096875*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547
904 - (1034211796797202675*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/15582454710701
91616 - (569243715533561075*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070
191616 - (6926822259319375*nl3*x1o*x6o*cos(x2))/194780683883773952 - (2447450282
2181875*nl3*x4o*x6o*cos(x2))/194780683883773952 - (77884934071416885*x1o*x4o*x6o
*cos(x2))/779122735535095808 + (152333319342678125*nl3*x1o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/194780683883773952 + (76510334990590625*nl3*x4o*x6o^2*sin(x2)*(cos
(2*x2)/2 + 1/2))/194780683883773952 + (376866664465600875*x1o*x4o*x6o^2*sin(x2)*
(cos(2*x2)/2 + 1/2))/779122735535095808 + (13626830001973125*nl3*x1o*x4o*x6o*cos
(x2))/97390341941886976 - (14424365882319375*nl3*x1o*x4o*x6o*sin(2*x2))/97390341
941886976 - (56347120973671875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97
390341941886976 - 834857303170401219/1558245471070191616, (6380694707443728305*x
6o*sin(2*x2))/24931927537123065856 - (5026372716153513153*x1o)/62329818842807664
64 - (821596801654652871*x4o)/6232981884280766464 - (550500265286241625*nl3)/389
561367767547904 + (182266828261764875*nl3*x1o)/389561367767547904 + (25307983318
835875*nl3*x4o)/97390341941886976 - (326784589117682693*x1o*x4o)/311649094214038
3232 + (3074600678738427175*x6o*cos(x2))/24931927537123065856 - (335871333644658
6125*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24931927537123065856 - (1848285221138231
25*nl3*x6o*cos(x2))/1558245471070191616 - (1415808770539955955*x1o*x6o*cos(x2))/
12465963768561532928 - (197648905180273725*x4o*x6o*cos(x2))/12465963768561532928
- (361861466647343125*nl3*x6o*sin(2*x2))/1558245471070191616 + (230254368643572
3955*x1o*x6o*sin(2*x2))/12465963768561532928 + (2832415741564517565*x4o*x6o*sin(
2*x2))/12465963768561532928 + (57787379840518625*nl3*x1o*x4o)/194780683883773952
- (9362224495828125*nl3*x1o*x6o*sin(2*x2))/97390341941886976 - (243588592277589
375*nl3*x4o*x6o*sin(2*x2))/779122735535095808 - (1112854305708475905*x1o*x4o*x6o

*sin(2*x2))/6232981884280766464 + (29048156787728125*nl3*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/389561367767547904 - (256447082329080375*x1o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/12465963768561532928 - (517470337753484225*x4o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/12465963768561532928 + (68242633908745625*nl3*x1o*x6o*cos(x2))/389
561367767547904 + (7478420926313125*nl3*x4o*x6o*cos(x2))/779122735535095808 + (5
73673287501695865*x1o*x4o*x6o*cos(x2))/6232981884280766464 - (12912317580128125*
nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (826133011462812
5*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (1626963716748
07675*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/6232981884280766464 - (90857762
85565625*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 + (52360167463886875*nl3*x1o
*x4o*x6o*sin(2*x2))/194780683883773952 + (33173550485853125*nl3*x1o*x4o*x6o^2*si
n(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 + 26999328457862690013/12465963768
561532928,
(3
9403687042325205*x6o*sin(2*x2))/389561367767547904 - (50972528491838485*x1o)/194
780683883773952 - (363363929194837*x4o)/562949953421312 - (663932687404375*nl3)/
48695170970943488 + (2170444264134375*nl3*x1o)/24347585485471744 - (953169509437
5*nl3*x4o)/140737488355328 + (13192422216708129*x1o*x4o)/194780683883773952 - (3
1073778226241485*x6o*cos(x2))/1558245471070191616 + (66100123006680425*x6o^2*sin
(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 + (8534881589150625*nl3*x6o*cos(x2)
)/194780683883773952 + (41196019279839285*x1o*x6o*cos(x2))/389561367767547904 +
(1205858864555765*x4o*x6o*cos(x2))/24347585485471744 - (17337111283664375*nl3*x6
o*sin(2*x2))/97390341941886976 - (95315111388901805*x1o*x6o*sin(2*x2))/779122735
535095808 - (127999495262714955*x4o*x6o*sin(2*x2))/779122735535095808 - (1103279
96367375*nl3*x1o*x4o)/6086896371367936 + (931006547194375*nl3*x1o*x6o*sin(2*x2))
/6086896371367936 + (10220528069838125*nl3*x4o*x6o*sin(2*x2))/48695170970943488
+ (51724053591752805*x1o*x4o*x6o*sin(2*x2))/194780683883773952 - (24548498292965
625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (543564263832899
75*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (1949906572613751
25*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095808 - (1138191826889062
5*nl3*x1o*x6o*cos(x2))/97390341941886976 - (5861574564998125*nl3*x4o*x6o*cos(x2)
)/97390341941886976 - (30857455514714795*x1o*x4o*x6o*cos(x2))/389561367767547904
+ (11556271256884375*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/973903419418869
76 + (32270887162890625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/9739034194188
6976 + (34646576792250075*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941
886976 + (4343157259684375*nl3*x1o*x4o*x6o*cos(x2))/48695170970943488 - (7606766
564969375*nl3*x1o*x4o*x6o*sin(2*x2))/24347585485471744 - (23657050738453125*nl3*
x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 - 33468400656158642
05/779122735535095808,
(128708505725862495*x6o*sin(2*x2))/389561367767547904 - (9836989
6817601613*x1o)/97390341941886976 - (37771510504274689*x4o)/48695170970943488 (2655741292267625*nl3)/24347585485471744 + (4180446586110125*nl3*x1o)/1217379274
2735872 - (870146677053375*nl3*x4o)/6086896371367936 + (4810954603809199*x1o*x4o
)/24347585485471744 - (2744724662046385*x6o*cos(x2))/48695170970943488 + (516341
28020705225*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 + (67780153978
98125*nl3*x6o*cos(x2))/48695170970943488 + (4418953527704575*x1o*x6o*cos(x2))/12
173792742735872 + (28172674218183165*x4o*x6o*cos(x2))/194780683883773952 - (8387
213531581875*nl3*x6o*sin(2*x2))/12173792742735872 - (80569378145442145*x1o*x6o*s
in(2*x2))/194780683883773952 - (56387532029842605*x4o*x6o*sin(2*x2))/97390341941
886976 - (9528413014625*nl3*x1o*x4o)/1521724092841984 + (1538541357136875*nl3*x1
o*x6o*sin(2*x2))/3043448185683968 + (17298237808034375*nl3*x4o*x6o*sin(2*x2))/24
347585485471744 + (42477286944176105*x1o*x4o*x6o*sin(2*x2))/48695170970943488 (10005214027465625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471744 - (1
9881757396679325*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 - (162
684831893346225*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780683883773952 - (964
8077725915625*nl3*x1o*x6o*cos(x2))/24347585485471744 - (541077493895625*nl3*x4o*
x6o*cos(x2))/3043448185683968 - (23353625478347875*x1o*x4o*x6o*cos(x2))/97390341
941886976 + (4458071448840625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1217379
2742735872 + (26888876934403125*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347
585485471744 + (111435844998363875*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97
390341941886976 + (1630782964265625*nl3*x1o*x4o*x6o*cos(x2))/6086896371367936 -

(12624866491320625*nl3*x1o*x4o*x6o*sin(2*x2))/12173792742735872 - (1911239562413
4375*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/12173792742735872 - 23923871
14837636177/194780683883773952,
(402648296073389295*x6o*sin(2*x2))/6232981884280766464 - (1929
27688678860469*x1o)/1558245471070191616 - (440443101049805775*x4o)/1558245471070
191616 - (1225028541846625*nl3)/194780683883773952 + (2204833982509625*nl3*x1o)/
48695170970943488 - (316958374902375*nl3*x4o)/12173792742735872 + (8457343938774
649*x1o*x4o)/779122735535095808 - (53796231582258645*x6o*cos(x2))/62329818842807
66464 + (320906296512216775*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/62329818842807664
64 + (7663717153425625*nl3*x6o*cos(x2))/389561367767547904 + (136683329777409855
*x1o*x6o*cos(x2))/3116490942140383232 + (57571054934214225*x4o*x6o*cos(x2))/3116
490942140383232 - (45692255272436875*nl3*x6o*sin(2*x2))/389561367767547904 - (19
7467805852518325*x1o*x6o*sin(2*x2))/3116490942140383232 - (280802938000983055*x4
o*x6o*sin(2*x2))/3116490942140383232 + (1170706819161375*nl3*x1o*x4o)/4869517097
0943488 + (993271765463125*nl3*x1o*x6o*sin(2*x2))/12173792742735872 + (911372378
9840625*nl3*x4o*x6o*sin(2*x2))/97390341941886976 + (147190206166920425*x1o*x4o*x
6o*sin(2*x2))/1558245471070191616 - (29448593480871875*nl3*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/389561367767547904 - (171574025979754925*x1o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/3116490942140383232 - (342473590827509275*x4o*x6o^2*sin(x2)*(cos(2
*x2)/2 + 1/2))/3116490942140383232 - (4688706321076875*nl3*x1o*x6o*cos(x2))/9739
0341941886976 - (607576074326875*nl3*x4o*x6o*cos(x2))/24347585485471744 - (54108
941770950735*x1o*x4o*x6o*cos(x2))/1558245471070191616 + (8154955033271875*nl3*x1
o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/97390341941886976 + (6947621959115625*nl3*x
4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/48695170970943488 + (248842833938451925*x1
o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (3926132974373125
*nl3*x1o*x4o*x6o*cos(x2))/97390341941886976 - (11227655199979375*nl3*x1o*x4o*x6o
*sin(2*x2))/97390341941886976 - (20617960515809375*nl3*x1o*x4o*x6o^2*sin(x2)*(co
s(2*x2)/2 + 1/2))/97390341941886976 - 6985568068141997833/3116490942140383232,
(12125553628832875*nl3)/24347585485471744 + (293738604443483087*x1o)/973903
41941886976 + (54113111774160649*x4o)/97390341941886976 - (447832214544305965*x6
o*sin(2*x2))/389561367767547904 - (11439845846052375*nl3*x1o)/12173792742735872
+ (7821335364036875*nl3*x4o)/12173792742735872 - (30796439919668059*x1o*x4o)/486
95170970943488 + (70831999915666385*x6o*cos(x2))/389561367767547904 - (360273535
729065075*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/389561367767547904 - (2176041525437
3125*nl3*x6o*cos(x2))/48695170970943488 - (219711556236620375*x1o*x6o*cos(x2))/1
94780683883773952 - (100233095533346685*x4o*x6o*cos(x2))/194780683883773952 + (9
7447503125828125*nl3*x6o*sin(2*x2))/48695170970943488 + (248696418871844895*x1o*
x6o*sin(2*x2))/194780683883773952 + (351167045222052805*x4o*x6o*sin(2*x2))/19478
0683883773952 + (419663233399125*nl3*x1o*x4o)/6086896371367936 - (40541955566645
625*nl3*x1o*x6o*sin(2*x2))/24347585485471744 - (53474758101999375*nl3*x4o*x6o*si
n(2*x2))/24347585485471744 - (277051382559989655*x1o*x4o*x6o*sin(2*x2))/97390341
941886976 + (67654079386028125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/4869517097
0943488 + (165035136552813925*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19478068388
3773952 + (550715999127905675*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/19478068388
3773952 + (30145332959523125*nl3*x1o*x6o*cos(x2))/24347585485471744 + (153140984
90861875*nl3*x4o*x6o*cos(x2))/24347585485471744 + (77467612475909555*x1o*x4o*x6o
*cos(x2))/97390341941886976 - (33369056762078125*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2
)/2 + 1/2))/24347585485471744 - (90310342538584375*nl3*x4o*x6o^2*sin(x2)*(cos(2*
x2)/2 + 1/2))/24347585485471744 - (396832328189450525*x1o*x4o*x6o^2*sin(x2)*(cos
(2*x2)/2 + 1/2))/97390341941886976 - (10947415158849375*nl3*x1o*x4o*x6o*cos(x2))
/12173792742735872 + (40928777815494375*nl3*x1o*x4o*x6o*sin(2*x2))/1217379274273
5872 + (66958631310471875*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1217379
2742735872 + 10725219753357580915/194780683883773952, (1462117740372370935*x6o*s
in(2*x2))/3116490942140383232 - (1065027188344533945*x1o)/779122735535095808 - (
185691866453310845*x4o)/779122735535095808 - (687448639178674875*nl3)/3895613677
67547904 + (137236718102843875*nl3*x1o)/194780683883773952 + (72984110097545875*
nl3*x4o)/194780683883773952 - (17475920480081891*x1o*x4o)/194780683883773952 + (
289525209149104545*x6o*cos(x2))/1558245471070191616 - (813991830361365825*x6o^2*
sin(x2)*(cos(2*x2)/2 + 1/2))/3116490942140383232 - (136717249705353125*nl3*x6o*c
os(x2))/779122735535095808 - (206778559210960375*x1o*x6o*cos(x2))/15582454710701

91616 - (30552954641517475*x4o*x6o*cos(x2))/1558245471070191616 - (2683527472771

73125*nl3*x6o*sin(2*x2))/779122735535095808 + (26774242967287065*x1o*x6o*sin(2*x
2))/97390341941886976 + (64075705638886825*x4o*x6o*sin(2*x2))/194780683883773952
+ (35667539893489625*nl3*x1o*x4o)/97390341941886976 - (65251481754269375*nl3*x1
o*x6o*sin(2*x2))/389561367767547904 - (169628843170996875*nl3*x4o*x6o*sin(2*x2))
/389561367767547904 - (140618959419840965*x1o*x4o*x6o*sin(2*x2))/779122735535095
808 + (151666044451553125*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/779122735535095
808 + (47885416492223125*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/7791227355350958
08 - (10156168185557775*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/77912273553509580
8 + (85827660612473125*nl3*x1o*x6o*cos(x2))/389561367767547904 + (58145131037106
25*nl3*x4o*x6o*cos(x2))/389561367767547904 + (46510555509955185*x1o*x4o*x6o*cos(
x2))/389561367767547904 - (49553486965715625*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/389561367767547904 - (29266328689215625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/389561367767547904 - (140166345657326725*x1o*x4o*x6o^2*sin(x2)*(cos(2
*x2)/2 + 1/2))/779122735535095808 - (24452037592778125*nl3*x1o*x4o*x6o*cos(x2))/
194780683883773952 + (58098792495711875*nl3*x1o*x4o*x6o*sin(2*x2))/1947806838837
73952 + (51535403698390625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/194780
683883773952 + 2083698118550483169/779122735535095808,
(
301097823455274765*x6o*sin(2*x2))/1558245471070191616 - (246094506011610557*x1o)
/389561367767547904 - (195864876986224833*x4o)/389561367767547904 - (29637106235
59375*nl3)/48695170970943488 + (2528226007035875*nl3*x1o)/12173792742735872 - (4
78265700857125*nl3*x4o)/6086896371367936 + (25747227503096909*x1o*x4o)/194780683
883773952 - (58007640717358625*x6o*cos(x2))/1558245471070191616 + (2579090810815
09475*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/1558245471070191616 + (8653496239003125
*nl3*x6o*cos(x2))/97390341941886976 + (180947454875317785*x1o*x6o*cos(x2))/77912
2735535095808 + (68848004411206605*x4o*x6o*cos(x2))/779122735535095808 - (207606
46481148125*nl3*x6o*sin(2*x2))/48695170970943488 - (204332649672000005*x1o*x6o*s
in(2*x2))/779122735535095808 - (291602056957484125*x4o*x6o*sin(2*x2))/7791227355
35095808 - (175983535528875*nl3*x1o*x4o)/12173792742735872 + (15326384419205625*
nl3*x1o*x6o*sin(2*x2))/48695170970943488 + (22334974856056875*nl3*x4o*x6o*sin(2*
x2))/48695170970943488 + (215418578712748265*x1o*x4o*x6o*sin(2*x2))/389561367767
547904 - (6211848733290625*nl3*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/24347585485471
744 - (92018666745549475*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/7791227355350958
08 - (407115897146090675*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/7791227355350958
08 - (6199276623333125*nl3*x1o*x6o*cos(x2))/24347585485471744 - (131487573593187
5*nl3*x4o*x6o*cos(x2))/12173792742735872 - (58373884306275185*x1o*x4o*x6o*cos(x2
))/389561367767547904 + (10711713905196875*nl3*x1o*x6o^2*sin(x2)*(cos(2*x2)/2 +
1/2))/48695170970943488 + (33775540585415625*nl3*x4o*x6o^2*sin(x2)*(cos(2*x2)/2
+ 1/2))/48695170970943488 + (277585392921056375*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)
/2 + 1/2))/389561367767547904 + (4057823879325625*nl3*x1o*x4o*x6o*cos(x2))/24347
585485471744 - (8016159847849375*nl3*x1o*x4o*x6o*sin(2*x2))/12173792742735872 (5974868914415625*nl3*x1o*x4o*x6o^2*sin(x2)*(cos(2*x2)/2 + 1/2))/608689637136793
6 - 4846746278195907995/779122735535095808];