dc =...
[0.185570 
0.597246 
-0.080704 
-0.844852 
0.177950 
0.597774 
1.204168 
0.644675 
0.410300 
-0.307976 
-0.011368 
-0.281660 
-1.446821 
-0.985330 
-0.651845 
1.012259 
-0.391973 
0.409948 
-0.446267 
-1.155935 
-0.881241 
-1.852454 
0.785522 
-1.204464 
-1.535050 
-1.258915 
-0.032903 
0.937075 
1.038539 
-0.644850 
-0.823909 
-1.113129 
0.164552 
0.207715 
0.398341 
0.332405 
0.223597 
1.204557 
-0.231454 
0.056122 
-1.124353 
-0.870030 
-0.099024 
1.224546 
1.244234 
0.279390 
-0.451376 
-1.493735 
0.315658 
-0.339219 
1.075880 
0.371802 
0.689426 
1.325001 
0.625351 
0.944293 
0.486892 
-0.772139 
0.015189 
0.072562 
-0.622720 
0.599130 
0.310901 
0.017320 
0.415539 
0.450608 
-0.447353 
0.235590 
1.204243 
-0.404382 
0.144053 
0.171506 
];

dinv = ...
[-6.809414 
-1.926741 
0.513334 
5.980504 
-1.897916 
-3.048501 
-8.785981 
-1.127506 
1.072094 
-0.983040 
3.748851 
0.998453 
0.246302 
1.509585 
0.417718 
-1.594803 
-2.737499 
3.073324 
0.885131 
3.745408 
4.513487 
-3.335696 
4.661967 
1.359143 
6.578809 
-2.304240 
-2.393606 
-3.813523 
-1.105455 
0.994577 
1.513259 
4.321437 
-2.347892 
-0.647573 
-0.289682 
-1.276602 
3.867817 
-1.478262 
2.971625 
5.407161 
1.094973 
-0.344687 
-2.099670 
-5.938610 
1.205033 
11.668115 
3.469948 
-1.755391 
0.529182 
-0.862273 
-1.332036 
1.363064 
1.195578 
-4.040471 
0.976933 
1.400327 
-3.356350 
-1.250888 
-0.266203 
1.454045 
-4.773688 
3.016578 
0.895005 
-3.526142 
-0.106207 
-2.280592 
-0.531265 
-1.257681 
-5.208740 
1.894432 
-1.406811 
-0.301561 
];

dqL = ...
[2.259841 
6.239941 
-7.205346 
-4.967054 
-1.271120 
3.143930 
0.788444 
1.394227 
-5.991767 
-2.207256 
-0.251079 
5.979406 
1.748432 
-3.734695 
-7.404953 
8.971061 
-3.255590 
-1.405978 
4.217222 
-3.994944 
0.271674 
-1.412647 
-0.328695 
-1.942971 
1.658119 
3.420762 
-1.153529 
-1.327447 
2.112198 
-0.531006 
9.122197 
1.513620 
-6.082682 
5.304794 
-7.045698 
0.657904 
2.965230 
-0.410667 
3.403255 
-3.735534 
-9.385675 
1.699031 
-7.176967 
4.924578 
8.710049 
6.320321 
0.795163 
-0.033093 
-2.235334 
-4.619140 
1.001027 
1.363188 
-0.066686 
-6.154109 
-0.180010 
-1.059165 
-2.180489 
6.084045 
0.651205 
-1.108992 
4.168569 
-2.764702 
-1.699281 
-0.866269 
-1.426778 
-1.701745 
-0.715568 
4.222559 
-5.799041 
7.522408 
-0.072484 
2.271783 
];

dq = ...
[-0.784382 
-0.876659 
-0.119710 
-0.333189 
-1.144153 
-0.673926 
-0.306245 
0.418532 
0.007004 
-0.194893 
-0.555906 
0.203894 
0.922826 
-0.229581 
-0.221935 
-0.266635 
0.032371 
-0.508892 
-0.317866 
-0.169032 
-0.006523 
-0.045891 
-0.472297 
-1.370136 
-0.387963 
0.781431 
0.574090 
0.319164 
-0.605603 
0.794416 
0.550962 
0.471771 
-0.124211 
0.131209 
0.157446 
0.835350 
1.883778 
0.149255 
0.129402 
-0.943149 
-0.362646 
-0.655259 
-0.965438 
1.695999 
-0.431400 
0.313235 
-0.063464 
1.061345 
0.464089 
0.737523 
0.489545 
-0.230078 
0.231505 
0.391369 
-0.044315 
-0.280366 
-0.228615 
0.353829 
0.507561 
-0.413604 
0.348804 
0.299258 
0.122247 
-0.282676 
-0.568514 
-0.290795 
-0.084688 
-0.193816 
0.150026 
-0.087084 
0.009374 
0.302925 
];

db = ...
[2.095922 
2.173076 
1.369187 
0.240607 
0.939234 
1.169134 
-0.195654 
-3.922312 
-0.518790 
-4.531927 
-2.137914 
-0.147003 
-0.599340 
0.629979 
-0.504515 
0.633666 
0.315769 
0.556091 
1.396332 
1.218551 
1.577939 
3.071102 
1.401906 
-1.232376 
-1.076978 
-3.844825 
-2.069483 
-0.385432 
-0.242191 
-3.727717 
-0.696779 
-0.286474 
0.566925 
0.020779 
-0.661585 
-0.907201 
-1.387937 
-0.150930 
-0.987015 
-1.885269 
-2.982675 
-1.617250 
0.812793 
2.108564 
11.183919 
3.698459 
0.797066 
-1.284170 
-0.039512 
-0.590772 
0.624164 
-0.964235 
-3.303991 
-1.751149 
-0.636736 
1.420400 
0.344496 
-0.001683 
0.551536 
0.011367 
-0.423187 
0.221680 
0.087201 
-0.363989 
0.557456 
0.568167 
-0.774878 
1.063554 
1.668608 
0.255907 
1.183625 
0.298714 
];