fmsfun1

function J=fmsfun1(Q)
global u;
u = Q;
OPTIONS = odeset('RelTol', 100000);
[t,x] = ode45('ode1',[0 4],[1 0 0], OPTIONS);
n=length(t);
    for k = 1:n
        if t(k)<0.8
            U(k)=u(1);
        elseif t(k)<1.6
            U(k)=u(2);
        elseif t(k)<2.4
            U(k)=u(3);
        elseif t(k)<3.2
            U(k)=u(4);
        else
            U(k)=u(5);
        end
    end
J=x(n,3)+20*(x(n,1)^2);
figure(5)
plot(t,x(:,1),'--',t,U)
legend('x(t)','U(t)')
grid on;
end