x1_dot =
 
(1530*u1*cos(u1))/41 - x2*x3 - (1530*atan(x1/x3 + (371*x2)/(250*x3))*cos(u1))/41 - (1530*atan(x1/x3 - (329*x2)/(250*x3)))/41 + (u2*sin(u1))/2050
 
>> x2_dot
 
x2_dot =
 
(151011*atan(x1/x3 - (329*x2)/(250*x3)))/2665 + (1113*u2*sin(u1))/1332500 + (3*cos(u1)*(113526*u1 - 113526*atan(x1/x3 + (371*x2)/(250*x3))))/5330
 
>> x3_dot
 
x3_dot =
 
x1*x2 + (1530*atan(x1/x3 + (371*x2)/(250*x3))*sin(u1))/41 + (u2*cos(u1))/2050 - (1530*u1*sin(u1))/41