clc
wx=;
wy=;
wz=;
w0=;
f=@(t,y)([wx*cos(y(2))+wz*sin(y(2))+w0*sin(y(3));
wy+w0*cos(y(1))*cos(y(3))+tan(y(1))*(wx*sin(y(2))-wz*cos(y(2))+w0*sin(y(1))*cos(y(3)));
-(wx*sin(y(2))-wz*cos(y(2))+w0*sin(y(1))*cos(y(3)))/cos(y(1))]);
[t,Y]=ode45(f,[0 1],[1 -1 2])
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