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function dx = muscle(t, x)
ks = 100;
kt = 50;
d =2;
m = 0.1;
dx = zeros(3,1);
dx(1) = x(3);
dx(2) = ks/d*x(1) - ks/d*x(2) + 1/d;
dx(3) = (-kt-ks)/m*x(1) + ks/m*x(2);
end

