function ydoc=myfun (t,y)if nargin<1t=-pi:0.1:pi;y=randperm(5);endk1=1;k2=1;k3=0.5;k4=1.5;k5=5;l1=0.01;l2=0.6;l3=0.2;a1=0.75;a2=0.75;vd=-k1*tanh(l1*y(2));wd=-k2*tanh(l2*y(3))+k3*tanh(l3*y(1))*sin(t);p1=(y(5)+wd)*y(2);p2=-(y(5)+wd)*y(1)+y(4)+vd;p3=y(5)+wd;p4=-k4*sign(y(4))*(abs(y(4)))^a1;p5=-k5*sign(y(