First you create your function that outputs derivative of q when time and q are given to it.
function qd = asd(t,q)
k1 = 1.2;
k2 = 1.3;
k3 = 1.5;
qd = [-k1*(12.7734-q(1))*cos(q(3));
-k1*(12.7734-q(1))*sin(q(3));
-k2*(0.3097+(13.6167-q(2))*sin(t))];
end
Then in the main script, you call
q10=[7.1892; 11.4189; 0.5826];
t1 = pi:0.1:2*pi;
[t,q] = ode45(@asd,t1,q10);
You did not specify k1 k2 k3 so I randomly selected them.
