Update rhs.m

Demos for MATLAB/Example_2_dyn_system/rhs.m

 function w=rhs(x)
+%the right hand side of the dynamical system
 w=x(1:3,1);tau=x(4:6,1);
 J=[1 0.3 0.2; 0.3 1.2 0.5; 0.2 0.5 0.8];
 iJ=[ 1.09230769230769        -0.215384615384615        -0.138461538461538;
     -0.215384615384615        1.16923076923077         -0.676923076923077;
     -0.138461538461538       -0.676923076923077         1.70769230769231];
 %M=[1 0.1 -2 0; 0 2 -1 0; 0.2 1 3 -1;0 0 0 -4];
-w=iJ*([0 -w(3) w(2); w(3) 0 -w(1); -w(2) w(2) 0]*J*w+tau);
\ No newline at end of file
+w=iJ*([0 -w(3) w(2); w(3) 0 -w(1); -w(2) w(2) 0]*J*w+tau);